(define (problem multirobot_47_2_c3)
 (:domain multirobot)
 (:objects
  v0 r149
  v1 r137
  v2 r150
  v3 r114
  v4 r123
  v5 r16
  v6 r31
  v7 r154
  v8 r40
  v9 r63
  v10 r169
  v11 r159
  v12 r105
  v13 r68
  v14 r8
  v15 r9
  v16 r147
  v17 r3
  v18 r162
  v19 r67
  v20 r167
  v21 r145
  v22 r132
  v23 r20
  v24 r43
  v25 r37
  v26 r139
  v27 r71
  v28 r21
  v29 r28
  v30 r4
  v31 r46
  v32 r7
  v33 r14
  v34 r17
  v35 r141
  v36 r125
  v37 r146
  v38 r118
  v39 r90
  v40 r87
  v41 r53
  v42 r121
  v43 r144
  v44 r104
  v45 r94
  v46 r92
  v47 r51
  v48 r18
  v49 r126
  v50 r59
  v51 r166
  v52 r50
  v53 r103
  v54 r88
  v55 r80
  v56 r134
  v57 r49
  v58 r39
  v59 r58
  v60 r96
  v61 r56
  v62 r55
  v63 r101
  v64 r128
  v65 r85
  v66 r34
  v67 r69
  v68 r98
  v69 r79
  v70 r30
  v71 r93
  v72 r119
  v73 r143
  v74 r25
  v75
  v76 r156
  v77 r62
  v78 r65
  v79 r15
  v80 r110
  v81 r45
  v82 r29
  v83 r136
  v84 r157
  v85 r116
  v86 r140
  v87 r27
  v88 r109
  v89 r108
  v90 r73
  v91 r70
  v92 r22
  v93 r107
  v94 r32
  v95 r164
  v96 r131
  v97 r117
  v98 r13
  v99 r41
  v100 r84
  v101 r11
  v102 r111
  v103 r81
  v104 r78
  v105 r33
  v106 r5
  v107 r97
  v108 r133
  v109 r44
  v110 r138
  v111 r120
  v112 r36
  v113 r72
  v114 r42
  v115 r153
  v116 r135
  v117 r60
  v118 r151
  v119
  v120 r122
  v121 r91
  v122 r100
  v123 r76
  v124 r127
  v125 r77
  v126 r52
  v127 r48
  v128 r19
  v129 r83
  v130 r35
  v131 r64
  v132 r124
  v133 r158
  v134 r61
  v135 r165
  v136 r155
  v137 r168
  v138 r23
  v139 r163
  v140 r66
  v141 r54
  v142 r99
  v143 r89
  v144 r10
  v145 r161
  v146 r2
  v147 r82
  v148 r130
  v149 r112
  v150 r113
  v151 r12
  v152 r152
  v153 r102
  v154 r95
  v155 r57
  v156 r38
  v157 r86
  v158 r142
  v159 r160
  v160 r26
  v161 r47
  v162 r148
  v163 r6
  v164 r106
  v165 r24
  v166 r74
  v167 r115
  v168 r75
  v169 r129
 )
 (:init
  (at r149 v0)
  (at r137 v1)
  (at r150 v2)
  (at r114 v3)
  (at r123 v4)
  (at r16 v5)
  (at r31 v6)
  (at r154 v7)
  (at r40 v8)
  (at r63 v9)
  (at r169 v10)
  (at r159 v11)
  (at r105 v12)
  (at r68 v13)
  (at r8 v14)
  (at r9 v15)
  (at r147 v16)
  (at r3 v17)
  (at r162 v18)
  (at r67 v19)
  (at r167 v20)
  (at r145 v21)
  (at r132 v22)
  (at r20 v23)
  (at r43 v24)
  (at r37 v25)
  (at r139 v26)
  (at r71 v27)
  (at r21 v28)
  (at r28 v29)
  (at r4 v30)
  (at r46 v31)
  (at r7 v32)
  (at r14 v33)
  (at r17 v34)
  (at r141 v35)
  (at r125 v36)
  (at r146 v37)
  (at r118 v38)
  (at r90 v39)
  (at r87 v40)
  (at r53 v41)
  (at r121 v42)
  (at r144 v43)
  (at r104 v44)
  (at r94 v45)
  (at r92 v46)
  (at r51 v47)
  (at r18 v48)
  (at r126 v49)
  (at r59 v50)
  (at r166 v51)
  (at r50 v52)
  (at r103 v53)
  (at r88 v54)
  (at r80 v55)
  (at r134 v56)
  (at r49 v57)
  (at r39 v58)
  (at r58 v59)
  (at r96 v60)
  (at r56 v61)
  (at r55 v62)
  (at r101 v63)
  (at r128 v64)
  (at r85 v65)
  (at r34 v66)
  (at r69 v67)
  (at r98 v68)
  (at r79 v69)
  (at r30 v70)
  (at r93 v71)
  (at r119 v72)
  (at r143 v73)
  (at r25 v74)
  (free v75)
  (at r156 v76)
  (at r62 v77)
  (at r65 v78)
  (at r15 v79)
  (at r110 v80)
  (at r45 v81)
  (at r29 v82)
  (at r136 v83)
  (at r157 v84)
  (at r116 v85)
  (at r140 v86)
  (at r27 v87)
  (at r109 v88)
  (at r108 v89)
  (at r73 v90)
  (at r70 v91)
  (at r22 v92)
  (at r107 v93)
  (at r32 v94)
  (at r164 v95)
  (at r131 v96)
  (at r117 v97)
  (at r13 v98)
  (at r41 v99)
  (at r84 v100)
  (at r11 v101)
  (at r111 v102)
  (at r81 v103)
  (at r78 v104)
  (at r33 v105)
  (at r5 v106)
  (at r97 v107)
  (at r133 v108)
  (at r44 v109)
  (at r138 v110)
  (at r120 v111)
  (at r36 v112)
  (at r72 v113)
  (at r42 v114)
  (at r153 v115)
  (at r135 v116)
  (at r60 v117)
  (at r151 v118)
  (free v119)
  (at r122 v120)
  (at r91 v121)
  (at r100 v122)
  (at r76 v123)
  (at r127 v124)
  (at r77 v125)
  (at r52 v126)
  (at r48 v127)
  (at r19 v128)
  (at r83 v129)
  (at r35 v130)
  (at r64 v131)
  (at r124 v132)
  (at r158 v133)
  (at r61 v134)
  (at r165 v135)
  (at r155 v136)
  (at r168 v137)
  (at r23 v138)
  (at r163 v139)
  (at r66 v140)
  (at r54 v141)
  (at r99 v142)
  (at r89 v143)
  (at r10 v144)
  (at r161 v145)
  (at r2 v146)
  (at r82 v147)
  (at r130 v148)
  (at r112 v149)
  (at r113 v150)
  (at r12 v151)
  (at r152 v152)
  (at r102 v153)
  (at r95 v154)
  (at r57 v155)
  (at r38 v156)
  (at r86 v157)
  (at r142 v158)
  (at r160 v159)
  (at r26 v160)
  (at r47 v161)
  (at r148 v162)
  (at r6 v163)
  (at r106 v164)
  (at r24 v165)
  (at r74 v166)
  (at r115 v167)
  (at r75 v168)
  (at r129 v169)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v19)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v112)
  (adjacent v4 v36)
  (adjacent v4 v45)
  (adjacent v4 v108)
  (adjacent v5 v6)
  (adjacent v5 v88)
  (adjacent v6 v7)
  (adjacent v6 v23)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v14)
  (adjacent v9 v28)
  (adjacent v9 v42)
  (adjacent v9 v66)
  (adjacent v10 v11)
  (adjacent v10 v20)
  (adjacent v10 v74)
  (adjacent v11 v12)
  (adjacent v11 v27)
  (adjacent v11 v73)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v24)
  (adjacent v15 v16)
  (adjacent v15 v102)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v17 v62)
  (adjacent v17 v87)
  (adjacent v17 v147)
  (adjacent v18 v19)
  (adjacent v18 v41)
  (adjacent v18 v44)
  (adjacent v18 v72)
  (adjacent v19 v126)
  (adjacent v20 v30)
  (adjacent v20 v51)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v139)
  (adjacent v23 v53)
  (adjacent v24 v25)
  (adjacent v24 v61)
  (adjacent v24 v133)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v35)
  (adjacent v29 v30)
  (adjacent v29 v31)
  (adjacent v31 v32)
  (adjacent v31 v115)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v50)
  (adjacent v34 v72)
  (adjacent v34 v127)
  (adjacent v34 v148)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v58)
  (adjacent v38 v67)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v108)
  (adjacent v42 v43)
  (adjacent v42 v80)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v57)
  (adjacent v46 v71)
  (adjacent v47 v48)
  (adjacent v47 v92)
  (adjacent v48 v49)
  (adjacent v48 v75)
  (adjacent v48 v146)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v54)
  (adjacent v51 v99)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v118)
  (adjacent v55 v56)
  (adjacent v55 v81)
  (adjacent v55 v107)
  (adjacent v56 v57)
  (adjacent v56 v65)
  (adjacent v56 v109)
  (adjacent v57 v60)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v61)
  (adjacent v59 v66)
  (adjacent v60 v156)
  (adjacent v61 v167)
  (adjacent v62 v63)
  (adjacent v62 v98)
  (adjacent v63 v64)
  (adjacent v63 v128)
  (adjacent v63 v168)
  (adjacent v64 v65)
  (adjacent v64 v97)
  (adjacent v64 v149)
  (adjacent v65 v93)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v166)
  (adjacent v70 v71)
  (adjacent v71 v112)
  (adjacent v72 v98)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v113)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v101)
  (adjacent v83 v84)
  (adjacent v83 v134)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v111)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v138)
  (adjacent v92 v122)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v114)
  (adjacent v102 v103)
  (adjacent v102 v125)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v145)
  (adjacent v106 v107)
  (adjacent v109 v110)
  (adjacent v109 v119)
  (adjacent v110 v111)
  (adjacent v113 v114)
  (adjacent v114 v155)
  (adjacent v115 v116)
  (adjacent v115 v148)
  (adjacent v116 v117)
  (adjacent v116 v121)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v126)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v129)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v167)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v150)
  (adjacent v132 v133)
  (adjacent v132 v169)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v149)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v140 v159)
  (adjacent v141 v142)
  (adjacent v141 v160)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v168 v169)
 )
 (:goal
  (and
  (at r61 v0)
  (at r94 v1)
  (at r141 v2)
  (at r78 v3)
  (at r90 v4)
  (at r5 v5)
  (at r41 v6)
  (at r86 v7)
  (at r93 v8)
  (at r71 v9)
  (at r167 v10)
  (at r43 v11)
  (at r64 v12)
  (at r125 v13)
  (at r129 v14)
  (at r109 v15)
  (at r106 v16)
  (at r2 v17)
  (at r163 v18)
  (at r80 v19)
  (at r20 v20)
  (at r67 v21)
  (at r51 v22)
  (at r27 v23)
  (at r6 v24)
  (at r130 v25)
  (at r147 v26)
  (at r116 v27)
  (at r14 v28)
  (at r13 v29)
  (at r131 v30)
  (at r122 v31)
  (at r152 v32)
  (at r134 v33)
  (at r96 v34)
  (at r35 v35)
  (at r87 v36)
  (at r95 v37)
  (at r135 v38)
  (at r31 v39)
  (at r103 v40)
  (at r150 v41)
  (at r63 v42)
  (at r74 v43)
  (at r79 v44)
  (at r110 v45)
  (at r166 v46)
  (at r99 v47)
  (at r123 v48)
  (at r30 v49)
  (at r44 v50)
  (at r104 v51)
  (at r16 v52)
  (at r121 v53)
  (at r124 v54)
  (at r45 v55)
  (at r111 v56)
  (at r10 v57)
  (at r154 v58)
  (at r75 v59)
  (at r39 v60)
  (at r97 v61)
  (at r144 v62)
  (at r105 v63)
  (at r92 v64)
  (at r56 v65)
  (at r60 v66)
  (at r162 v67)
  (at r3 v68)
  (at r153 v69)
  (at r84 v70)
  (at r108 v71)
  (at r82 v72)
  (at r120 v73)
  (at r142 v74)
  (at r91 v75)
  (at r145 v76)
  (at r126 v77)
  (at r118 v78)
  (free v79)
  (at r38 v80)
  (at r54 v81)
  (at r155 v82)
  (at r23 v83)
  (at r158 v84)
  (at r29 v85)
  (at r55 v86)
  (at r137 v87)
  (at r117 v88)
  (at r85 v89)
  (at r107 v90)
  (at r133 v91)
  (at r33 v92)
  (at r58 v93)
  (at r34 v94)
  (at r18 v95)
  (at r151 v96)
  (at r157 v97)
  (at r89 v98)
  (at r128 v99)
  (at r114 v100)
  (at r76 v101)
  (at r46 v102)
  (at r136 v103)
  (at r66 v104)
  (at r37 v105)
  (at r88 v106)
  (at r132 v107)
  (at r148 v108)
  (at r81 v109)
  (at r52 v110)
  (at r9 v111)
  (at r68 v112)
  (at r7 v113)
  (at r59 v114)
  (at r12 v115)
  (at r113 v116)
  (at r24 v117)
  (at r73 v118)
  (at r8 v119)
  (at r160 v120)
  (at r15 v121)
  (at r22 v122)
  (at r72 v123)
  (at r138 v124)
  (at r47 v125)
  (at r49 v126)
  (at r164 v127)
  (at r100 v128)
  (at r165 v129)
  (at r146 v130)
  (at r42 v131)
  (at r19 v132)
  (at r28 v133)
  (at r159 v134)
  (at r115 v135)
  (at r48 v136)
  (at r32 v137)
  (at r169 v138)
  (at r140 v139)
  (at r50 v140)
  (at r62 v141)
  (at r161 v142)
  (at r17 v143)
  (free v144)
  (at r4 v145)
  (at r36 v146)
  (at r102 v147)
  (at r40 v148)
  (at r25 v149)
  (at r77 v150)
  (at r26 v151)
  (at r83 v152)
  (at r156 v153)
  (at r112 v154)
  (at r69 v155)
  (at r98 v156)
  (at r65 v157)
  (at r143 v158)
  (at r101 v159)
  (at r168 v160)
  (at r53 v161)
  (at r11 v162)
  (at r149 v163)
  (at r127 v164)
  (at r139 v165)
  (at r119 v166)
  (at r70 v167)
  (at r21 v168)
  (at r57 v169)
  )
 )
)