(define (problem multirobot_47_2_c2)
 (:domain multirobot)
 (:objects
  v0 r41
  v1
  v2 r103
  v3 r27
  v4 r138
  v5 r16
  v6 r170
  v7 r132
  v8 r146
  v9 r84
  v10 r45
  v11 r4
  v12 r15
  v13 r21
  v14 r85
  v15 r69
  v16 r93
  v17 r13
  v18 r56
  v19 r5
  v20 r48
  v21 r51
  v22 r154
  v23 r7
  v24 r89
  v25 r91
  v26 r142
  v27 r82
  v28 r68
  v29 r105
  v30 r101
  v31 r35
  v32 r8
  v33 r20
  v34 r133
  v35 r78
  v36 r10
  v37 r98
  v38 r114
  v39 r119
  v40 r175
  v41 r24
  v42 r50
  v43 r2
  v44 r96
  v45 r165
  v46 r113
  v47 r12
  v48 r123
  v49 r172
  v50 r49
  v51 r53
  v52 r81
  v53 r100
  v54 r159
  v55 r156
  v56 r129
  v57 r55
  v58 r166
  v59 r57
  v60 r135
  v61 r44
  v62 r46
  v63 r6
  v64 r110
  v65 r163
  v66 r99
  v67 r150
  v68 r130
  v69 r66
  v70 r118
  v71 r88
  v72 r26
  v73 r139
  v74 r61
  v75 r73
  v76 r158
  v77 r9
  v78 r160
  v79 r63
  v80 r22
  v81 r32
  v82 r177
  v83 r178
  v84 r36
  v85 r128
  v86 r164
  v87 r112
  v88 r74
  v89 r86
  v90 r145
  v91 r140
  v92 r94
  v93 r67
  v94 r147
  v95 r14
  v96 r122
  v97 r59
  v98 r131
  v99 r33
  v100 r152
  v101 r126
  v102 r102
  v103 r141
  v104 r62
  v105 r90
  v106 r58
  v107 r70
  v108 r125
  v109 r116
  v110 r124
  v111 r174
  v112 r25
  v113 r168
  v114 r40
  v115 r137
  v116 r97
  v117 r52
  v118 r17
  v119 r157
  v120 r92
  v121 r39
  v122 r43
  v123 r34
  v124 r42
  v125 r111
  v126 r153
  v127 r106
  v128 r107
  v129 r121
  v130
  v131 r155
  v132 r38
  v133 r148
  v134 r54
  v135 r11
  v136 r18
  v137 r76
  v138 r83
  v139 r47
  v140 r127
  v141 r162
  v142 r173
  v143 r169
  v144 r64
  v145 r161
  v146 r171
  v147 r117
  v148 r134
  v149 r19
  v150 r79
  v151 r30
  v152 r37
  v153 r176
  v154 r108
  v155 r167
  v156 r31
  v157 r23
  v158 r143
  v159 r3
  v160 r95
  v161 r115
  v162 r72
  v163 r65
  v164 r28
  v165 r104
  v166 r87
  v167 r120
  v168 r71
  v169 r80
  v170 r136
  v171 r149
  v172 r29
  v173 r144
  v174 r109
  v175 r151
  v176 r60
  v177 r75
  v178 r77
 )
 (:init
  (at r41 v0)
  (free v1)
  (at r103 v2)
  (at r27 v3)
  (at r138 v4)
  (at r16 v5)
  (at r170 v6)
  (at r132 v7)
  (at r146 v8)
  (at r84 v9)
  (at r45 v10)
  (at r4 v11)
  (at r15 v12)
  (at r21 v13)
  (at r85 v14)
  (at r69 v15)
  (at r93 v16)
  (at r13 v17)
  (at r56 v18)
  (at r5 v19)
  (at r48 v20)
  (at r51 v21)
  (at r154 v22)
  (at r7 v23)
  (at r89 v24)
  (at r91 v25)
  (at r142 v26)
  (at r82 v27)
  (at r68 v28)
  (at r105 v29)
  (at r101 v30)
  (at r35 v31)
  (at r8 v32)
  (at r20 v33)
  (at r133 v34)
  (at r78 v35)
  (at r10 v36)
  (at r98 v37)
  (at r114 v38)
  (at r119 v39)
  (at r175 v40)
  (at r24 v41)
  (at r50 v42)
  (at r2 v43)
  (at r96 v44)
  (at r165 v45)
  (at r113 v46)
  (at r12 v47)
  (at r123 v48)
  (at r172 v49)
  (at r49 v50)
  (at r53 v51)
  (at r81 v52)
  (at r100 v53)
  (at r159 v54)
  (at r156 v55)
  (at r129 v56)
  (at r55 v57)
  (at r166 v58)
  (at r57 v59)
  (at r135 v60)
  (at r44 v61)
  (at r46 v62)
  (at r6 v63)
  (at r110 v64)
  (at r163 v65)
  (at r99 v66)
  (at r150 v67)
  (at r130 v68)
  (at r66 v69)
  (at r118 v70)
  (at r88 v71)
  (at r26 v72)
  (at r139 v73)
  (at r61 v74)
  (at r73 v75)
  (at r158 v76)
  (at r9 v77)
  (at r160 v78)
  (at r63 v79)
  (at r22 v80)
  (at r32 v81)
  (at r177 v82)
  (at r178 v83)
  (at r36 v84)
  (at r128 v85)
  (at r164 v86)
  (at r112 v87)
  (at r74 v88)
  (at r86 v89)
  (at r145 v90)
  (at r140 v91)
  (at r94 v92)
  (at r67 v93)
  (at r147 v94)
  (at r14 v95)
  (at r122 v96)
  (at r59 v97)
  (at r131 v98)
  (at r33 v99)
  (at r152 v100)
  (at r126 v101)
  (at r102 v102)
  (at r141 v103)
  (at r62 v104)
  (at r90 v105)
  (at r58 v106)
  (at r70 v107)
  (at r125 v108)
  (at r116 v109)
  (at r124 v110)
  (at r174 v111)
  (at r25 v112)
  (at r168 v113)
  (at r40 v114)
  (at r137 v115)
  (at r97 v116)
  (at r52 v117)
  (at r17 v118)
  (at r157 v119)
  (at r92 v120)
  (at r39 v121)
  (at r43 v122)
  (at r34 v123)
  (at r42 v124)
  (at r111 v125)
  (at r153 v126)
  (at r106 v127)
  (at r107 v128)
  (at r121 v129)
  (free v130)
  (at r155 v131)
  (at r38 v132)
  (at r148 v133)
  (at r54 v134)
  (at r11 v135)
  (at r18 v136)
  (at r76 v137)
  (at r83 v138)
  (at r47 v139)
  (at r127 v140)
  (at r162 v141)
  (at r173 v142)
  (at r169 v143)
  (at r64 v144)
  (at r161 v145)
  (at r171 v146)
  (at r117 v147)
  (at r134 v148)
  (at r19 v149)
  (at r79 v150)
  (at r30 v151)
  (at r37 v152)
  (at r176 v153)
  (at r108 v154)
  (at r167 v155)
  (at r31 v156)
  (at r23 v157)
  (at r143 v158)
  (at r3 v159)
  (at r95 v160)
  (at r115 v161)
  (at r72 v162)
  (at r65 v163)
  (at r28 v164)
  (at r104 v165)
  (at r87 v166)
  (at r120 v167)
  (at r71 v168)
  (at r80 v169)
  (at r136 v170)
  (at r149 v171)
  (at r29 v172)
  (at r144 v173)
  (at r109 v174)
  (at r151 v175)
  (at r60 v176)
  (at r75 v177)
  (at r77 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v31)
  (adjacent v1 v2)
  (adjacent v1 v20)
  (adjacent v1 v108)
  (adjacent v2 v3)
  (adjacent v2 v38)
  (adjacent v2 v82)
  (adjacent v2 v116)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v13)
  (adjacent v3 v19)
  (adjacent v3 v130)
  (adjacent v4 v9)
  (adjacent v4 v14)
  (adjacent v4 v50)
  (adjacent v5 v6)
  (adjacent v5 v45)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v89)
  (adjacent v8 v9)
  (adjacent v8 v24)
  (adjacent v9 v35)
  (adjacent v9 v101)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v63)
  (adjacent v12 v13)
  (adjacent v12 v75)
  (adjacent v12 v146)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v32)
  (adjacent v17 v18)
  (adjacent v17 v25)
  (adjacent v18 v19)
  (adjacent v19 v88)
  (adjacent v20 v21)
  (adjacent v20 v107)
  (adjacent v20 v126)
  (adjacent v20 v152)
  (adjacent v21 v22)
  (adjacent v21 v56)
  (adjacent v22 v23)
  (adjacent v22 v45)
  (adjacent v22 v62)
  (adjacent v23 v24)
  (adjacent v23 v57)
  (adjacent v23 v74)
  (adjacent v25 v26)
  (adjacent v25 v39)
  (adjacent v26 v27)
  (adjacent v26 v151)
  (adjacent v27 v28)
  (adjacent v27 v125)
  (adjacent v28 v29)
  (adjacent v28 v68)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v46)
  (adjacent v29 v67)
  (adjacent v30 v31)
  (adjacent v30 v167)
  (adjacent v31 v106)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v118)
  (adjacent v34 v150)
  (adjacent v35 v36)
  (adjacent v35 v44)
  (adjacent v36 v37)
  (adjacent v36 v119)
  (adjacent v37 v38)
  (adjacent v37 v105)
  (adjacent v39 v40)
  (adjacent v39 v71)
  (adjacent v39 v88)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v69)
  (adjacent v41 v129)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v83)
  (adjacent v45 v93)
  (adjacent v45 v105)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v152)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v137)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v129)
  (adjacent v52 v53)
  (adjacent v52 v70)
  (adjacent v52 v151)
  (adjacent v53 v54)
  (adjacent v53 v167)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v94)
  (adjacent v56 v100)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v72)
  (adjacent v61 v73)
  (adjacent v63 v64)
  (adjacent v63 v87)
  (adjacent v63 v128)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v81)
  (adjacent v68 v69)
  (adjacent v68 v78)
  (adjacent v68 v79)
  (adjacent v69 v72)
  (adjacent v70 v71)
  (adjacent v71 v104)
  (adjacent v71 v117)
  (adjacent v73 v74)
  (adjacent v74 v147)
  (adjacent v75 v76)
  (adjacent v75 v149)
  (adjacent v76 v77)
  (adjacent v76 v82)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v141)
  (adjacent v86 v87)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v112)
  (adjacent v93 v148)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v164)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v159)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v106 v107)
  (adjacent v107 v111)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v140)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v160)
  (adjacent v115 v116)
  (adjacent v115 v148)
  (adjacent v115 v171)
  (adjacent v117 v118)
  (adjacent v118 v147)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v136)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v178)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v166)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v153)
  (adjacent v149 v150)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v163)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v168)
  (adjacent v168 v169)
  (adjacent v168 v172)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r90 v0)
  (at r145 v1)
  (at r15 v2)
  (at r73 v3)
  (at r11 v4)
  (at r4 v5)
  (at r121 v6)
  (at r74 v7)
  (at r54 v8)
  (at r51 v9)
  (at r6 v10)
  (at r21 v11)
  (at r111 v12)
  (at r19 v13)
  (at r61 v14)
  (at r177 v15)
  (at r27 v16)
  (at r153 v17)
  (at r13 v18)
  (at r40 v19)
  (at r113 v20)
  (at r82 v21)
  (at r22 v22)
  (free v23)
  (at r123 v24)
  (at r167 v25)
  (at r149 v26)
  (at r76 v27)
  (at r80 v28)
  (at r28 v29)
  (at r103 v30)
  (at r126 v31)
  (at r94 v32)
  (at r138 v33)
  (at r104 v34)
  (at r25 v35)
  (at r35 v36)
  (at r119 v37)
  (at r56 v38)
  (at r158 v39)
  (at r130 v40)
  (at r68 v41)
  (at r69 v42)
  (at r105 v43)
  (at r63 v44)
  (at r165 v45)
  (at r55 v46)
  (at r141 v47)
  (at r155 v48)
  (at r57 v49)
  (at r98 v50)
  (at r91 v51)
  (at r62 v52)
  (at r79 v53)
  (at r93 v54)
  (at r131 v55)
  (at r101 v56)
  (at r159 v57)
  (free v58)
  (at r32 v59)
  (at r120 v60)
  (at r20 v61)
  (at r92 v62)
  (at r33 v63)
  (at r174 v64)
  (at r83 v65)
  (at r172 v66)
  (at r134 v67)
  (at r47 v68)
  (at r84 v69)
  (at r127 v70)
  (at r156 v71)
  (at r59 v72)
  (at r23 v73)
  (at r5 v74)
  (at r34 v75)
  (at r146 v76)
  (at r96 v77)
  (at r14 v78)
  (at r124 v79)
  (at r85 v80)
  (at r163 v81)
  (at r151 v82)
  (at r144 v83)
  (at r128 v84)
  (at r71 v85)
  (at r150 v86)
  (at r132 v87)
  (at r41 v88)
  (at r129 v89)
  (at r152 v90)
  (at r95 v91)
  (at r9 v92)
  (at r106 v93)
  (at r100 v94)
  (at r2 v95)
  (at r178 v96)
  (at r31 v97)
  (at r42 v98)
  (at r115 v99)
  (at r122 v100)
  (at r24 v101)
  (at r48 v102)
  (at r64 v103)
  (at r169 v104)
  (at r12 v105)
  (at r26 v106)
  (at r77 v107)
  (at r17 v108)
  (at r29 v109)
  (at r161 v110)
  (at r46 v111)
  (at r89 v112)
  (at r160 v113)
  (at r37 v114)
  (at r43 v115)
  (at r175 v116)
  (at r39 v117)
  (at r99 v118)
  (at r136 v119)
  (at r117 v120)
  (at r78 v121)
  (at r118 v122)
  (at r157 v123)
  (at r18 v124)
  (at r147 v125)
  (at r3 v126)
  (at r135 v127)
  (at r139 v128)
  (at r137 v129)
  (at r173 v130)
  (at r87 v131)
  (at r67 v132)
  (at r8 v133)
  (at r110 v134)
  (at r16 v135)
  (at r109 v136)
  (at r7 v137)
  (at r58 v138)
  (at r102 v139)
  (at r88 v140)
  (at r72 v141)
  (at r70 v142)
  (at r86 v143)
  (at r44 v144)
  (at r50 v145)
  (at r164 v146)
  (at r112 v147)
  (at r75 v148)
  (at r107 v149)
  (at r81 v150)
  (at r10 v151)
  (at r38 v152)
  (at r97 v153)
  (at r125 v154)
  (at r143 v155)
  (at r170 v156)
  (at r52 v157)
  (at r116 v158)
  (at r49 v159)
  (at r142 v160)
  (at r36 v161)
  (at r65 v162)
  (at r30 v163)
  (at r140 v164)
  (at r53 v165)
  (at r45 v166)
  (at r114 v167)
  (at r108 v168)
  (at r60 v169)
  (at r168 v170)
  (at r66 v171)
  (at r171 v172)
  (at r166 v173)
  (at r176 v174)
  (at r133 v175)
  (at r162 v176)
  (at r148 v177)
  (at r154 v178)
  )
 )
)