(define (problem multirobot_47_2_c5)
 (:domain multirobot)
 (:objects
  v0 r122
  v1 r70
  v2 r72
  v3 r56
  v4 r87
  v5 r37
  v6 r148
  v7 r90
  v8 r22
  v9 r153
  v10 r105
  v11 r23
  v12 r145
  v13 r28
  v14 r3
  v15 r108
  v16 r13
  v17 r166
  v18 r143
  v19 r65
  v20 r86
  v21 r168
  v22 r77
  v23 r36
  v24 r133
  v25 r139
  v26 r12
  v27 r44
  v28 r58
  v29 r18
  v30 r8
  v31 r131
  v32 r30
  v33 r80
  v34 r97
  v35 r41
  v36 r151
  v37 r156
  v38 r141
  v39 r29
  v40 r69
  v41 r46
  v42 r49
  v43 r96
  v44 r107
  v45 r121
  v46 r32
  v47 r170
  v48 r109
  v49 r48
  v50 r20
  v51 r102
  v52 r101
  v53 r16
  v54 r136
  v55 r14
  v56 r100
  v57 r144
  v58 r129
  v59 r89
  v60 r125
  v61 r119
  v62 r146
  v63 r161
  v64 r150
  v65 r98
  v66 r85
  v67 r7
  v68 r128
  v69 r112
  v70 r63
  v71 r154
  v72 r5
  v73 r163
  v74 r59
  v75 r149
  v76 r113
  v77 r93
  v78 r127
  v79 r2
  v80 r50
  v81 r38
  v82 r158
  v83 r126
  v84 r11
  v85 r137
  v86 r171
  v87 r17
  v88 r6
  v89 r106
  v90 r147
  v91 r40
  v92 r124
  v93 r83
  v94 r152
  v95 r34
  v96 r123
  v97 r47
  v98 r110
  v99 r159
  v100 r81
  v101 r162
  v102 r142
  v103 r39
  v104 r26
  v105 r82
  v106 r116
  v107 r68
  v108 r114
  v109 r91
  v110 r45
  v111 r71
  v112 r54
  v113 r88
  v114 r66
  v115 r167
  v116 r21
  v117 r173
  v118 r61
  v119 r140
  v120 r169
  v121 r64
  v122 r24
  v123 r35
  v124 r9
  v125 r115
  v126 r67
  v127 r57
  v128
  v129 r155
  v130 r74
  v131 r165
  v132 r60
  v133 r104
  v134 r42
  v135 r99
  v136 r19
  v137 r53
  v138 r160
  v139 r52
  v140
  v141 r103
  v142 r130
  v143 r84
  v144 r76
  v145 r15
  v146 r120
  v147 r138
  v148 r4
  v149 r164
  v150 r73
  v151 r75
  v152 r92
  v153 r33
  v154 r62
  v155 r135
  v156 r172
  v157 r51
  v158 r134
  v159 r10
  v160 r94
  v161 r25
  v162 r118
  v163 r95
  v164 r43
  v165 r132
  v166 r174
  v167 r111
  v168 r117
  v169 r78
  v170 r79
  v171 r55
  v172 r157
  v173 r27
  v174 r31
 )
 (:init
  (at r122 v0)
  (at r70 v1)
  (at r72 v2)
  (at r56 v3)
  (at r87 v4)
  (at r37 v5)
  (at r148 v6)
  (at r90 v7)
  (at r22 v8)
  (at r153 v9)
  (at r105 v10)
  (at r23 v11)
  (at r145 v12)
  (at r28 v13)
  (at r3 v14)
  (at r108 v15)
  (at r13 v16)
  (at r166 v17)
  (at r143 v18)
  (at r65 v19)
  (at r86 v20)
  (at r168 v21)
  (at r77 v22)
  (at r36 v23)
  (at r133 v24)
  (at r139 v25)
  (at r12 v26)
  (at r44 v27)
  (at r58 v28)
  (at r18 v29)
  (at r8 v30)
  (at r131 v31)
  (at r30 v32)
  (at r80 v33)
  (at r97 v34)
  (at r41 v35)
  (at r151 v36)
  (at r156 v37)
  (at r141 v38)
  (at r29 v39)
  (at r69 v40)
  (at r46 v41)
  (at r49 v42)
  (at r96 v43)
  (at r107 v44)
  (at r121 v45)
  (at r32 v46)
  (at r170 v47)
  (at r109 v48)
  (at r48 v49)
  (at r20 v50)
  (at r102 v51)
  (at r101 v52)
  (at r16 v53)
  (at r136 v54)
  (at r14 v55)
  (at r100 v56)
  (at r144 v57)
  (at r129 v58)
  (at r89 v59)
  (at r125 v60)
  (at r119 v61)
  (at r146 v62)
  (at r161 v63)
  (at r150 v64)
  (at r98 v65)
  (at r85 v66)
  (at r7 v67)
  (at r128 v68)
  (at r112 v69)
  (at r63 v70)
  (at r154 v71)
  (at r5 v72)
  (at r163 v73)
  (at r59 v74)
  (at r149 v75)
  (at r113 v76)
  (at r93 v77)
  (at r127 v78)
  (at r2 v79)
  (at r50 v80)
  (at r38 v81)
  (at r158 v82)
  (at r126 v83)
  (at r11 v84)
  (at r137 v85)
  (at r171 v86)
  (at r17 v87)
  (at r6 v88)
  (at r106 v89)
  (at r147 v90)
  (at r40 v91)
  (at r124 v92)
  (at r83 v93)
  (at r152 v94)
  (at r34 v95)
  (at r123 v96)
  (at r47 v97)
  (at r110 v98)
  (at r159 v99)
  (at r81 v100)
  (at r162 v101)
  (at r142 v102)
  (at r39 v103)
  (at r26 v104)
  (at r82 v105)
  (at r116 v106)
  (at r68 v107)
  (at r114 v108)
  (at r91 v109)
  (at r45 v110)
  (at r71 v111)
  (at r54 v112)
  (at r88 v113)
  (at r66 v114)
  (at r167 v115)
  (at r21 v116)
  (at r173 v117)
  (at r61 v118)
  (at r140 v119)
  (at r169 v120)
  (at r64 v121)
  (at r24 v122)
  (at r35 v123)
  (at r9 v124)
  (at r115 v125)
  (at r67 v126)
  (at r57 v127)
  (free v128)
  (at r155 v129)
  (at r74 v130)
  (at r165 v131)
  (at r60 v132)
  (at r104 v133)
  (at r42 v134)
  (at r99 v135)
  (at r19 v136)
  (at r53 v137)
  (at r160 v138)
  (at r52 v139)
  (free v140)
  (at r103 v141)
  (at r130 v142)
  (at r84 v143)
  (at r76 v144)
  (at r15 v145)
  (at r120 v146)
  (at r138 v147)
  (at r4 v148)
  (at r164 v149)
  (at r73 v150)
  (at r75 v151)
  (at r92 v152)
  (at r33 v153)
  (at r62 v154)
  (at r135 v155)
  (at r172 v156)
  (at r51 v157)
  (at r134 v158)
  (at r10 v159)
  (at r94 v160)
  (at r25 v161)
  (at r118 v162)
  (at r95 v163)
  (at r43 v164)
  (at r132 v165)
  (at r174 v166)
  (at r111 v167)
  (at r117 v168)
  (at r78 v169)
  (at r79 v170)
  (at r55 v171)
  (at r157 v172)
  (at r27 v173)
  (at r31 v174)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v46)
  (adjacent v0 v47)
  (adjacent v0 v65)
  (adjacent v0 v99)
  (adjacent v1 v2)
  (adjacent v1 v30)
  (adjacent v1 v74)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v4 v10)
  (adjacent v4 v16)
  (adjacent v4 v25)
  (adjacent v4 v26)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v88)
  (adjacent v6 v7)
  (adjacent v6 v90)
  (adjacent v7 v8)
  (adjacent v7 v31)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v8 v50)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v9 v20)
  (adjacent v10 v36)
  (adjacent v10 v155)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v15 v19)
  (adjacent v15 v161)
  (adjacent v16 v17)
  (adjacent v16 v42)
  (adjacent v16 v66)
  (adjacent v16 v151)
  (adjacent v17 v18)
  (adjacent v17 v43)
  (adjacent v18 v19)
  (adjacent v18 v34)
  (adjacent v20 v33)
  (adjacent v21 v22)
  (adjacent v21 v67)
  (adjacent v22 v23)
  (adjacent v22 v81)
  (adjacent v22 v98)
  (adjacent v23 v24)
  (adjacent v23 v64)
  (adjacent v23 v73)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v25 v54)
  (adjacent v26 v27)
  (adjacent v26 v51)
  (adjacent v26 v66)
  (adjacent v27 v28)
  (adjacent v27 v121)
  (adjacent v27 v150)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v65)
  (adjacent v31 v32)
  (adjacent v31 v35)
  (adjacent v31 v41)
  (adjacent v32 v33)
  (adjacent v32 v60)
  (adjacent v32 v61)
  (adjacent v32 v148)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v75)
  (adjacent v39 v128)
  (adjacent v40 v41)
  (adjacent v40 v126)
  (adjacent v41 v75)
  (adjacent v41 v102)
  (adjacent v41 v134)
  (adjacent v42 v71)
  (adjacent v42 v122)
  (adjacent v43 v44)
  (adjacent v43 v87)
  (adjacent v44 v45)
  (adjacent v44 v53)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v72)
  (adjacent v50 v80)
  (adjacent v50 v142)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v124)
  (adjacent v55 v56)
  (adjacent v55 v69)
  (adjacent v55 v70)
  (adjacent v56 v57)
  (adjacent v56 v91)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v91)
  (adjacent v59 v60)
  (adjacent v59 v76)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v72)
  (adjacent v62 v76)
  (adjacent v62 v115)
  (adjacent v63 v64)
  (adjacent v65 v168)
  (adjacent v67 v68)
  (adjacent v67 v114)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v125)
  (adjacent v71 v122)
  (adjacent v72 v77)
  (adjacent v72 v92)
  (adjacent v72 v147)
  (adjacent v73 v74)
  (adjacent v76 v123)
  (adjacent v76 v169)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v101)
  (adjacent v83 v84)
  (adjacent v83 v129)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v108)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v127)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v107)
  (adjacent v102 v103)
  (adjacent v102 v162)
  (adjacent v103 v104)
  (adjacent v103 v136)
  (adjacent v104 v105)
  (adjacent v104 v143)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v120)
  (adjacent v107 v125)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v137)
  (adjacent v109 v174)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v135)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v128)
  (adjacent v114 v121)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v154)
  (adjacent v123 v124)
  (adjacent v126 v127)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
 )
 (:goal
  (and
  (at r55 v0)
  (at r87 v1)
  (at r136 v2)
  (at r10 v3)
  (at r100 v4)
  (at r117 v5)
  (at r160 v6)
  (at r156 v7)
  (at r59 v8)
  (at r30 v9)
  (at r78 v10)
  (at r63 v11)
  (at r128 v12)
  (at r47 v13)
  (at r28 v14)
  (at r42 v15)
  (at r71 v16)
  (at r53 v17)
  (at r138 v18)
  (at r17 v19)
  (at r123 v20)
  (at r95 v21)
  (at r154 v22)
  (at r3 v23)
  (at r94 v24)
  (at r54 v25)
  (at r165 v26)
  (at r19 v27)
  (at r23 v28)
  (at r20 v29)
  (at r36 v30)
  (at r98 v31)
  (at r67 v32)
  (at r5 v33)
  (at r52 v34)
  (at r22 v35)
  (at r107 v36)
  (at r33 v37)
  (at r48 v38)
  (at r152 v39)
  (at r2 v40)
  (at r6 v41)
  (at r35 v42)
  (at r157 v43)
  (at r8 v44)
  (at r172 v45)
  (at r101 v46)
  (at r29 v47)
  (at r102 v48)
  (at r174 v49)
  (at r4 v50)
  (at r65 v51)
  (at r148 v52)
  (at r149 v53)
  (at r122 v54)
  (at r7 v55)
  (at r62 v56)
  (at r108 v57)
  (at r155 v58)
  (at r38 v59)
  (at r120 v60)
  (at r110 v61)
  (at r14 v62)
  (at r135 v63)
  (at r112 v64)
  (at r145 v65)
  (free v66)
  (at r77 v67)
  (at r104 v68)
  (at r51 v69)
  (at r127 v70)
  (at r92 v71)
  (at r24 v72)
  (at r64 v73)
  (at r72 v74)
  (at r69 v75)
  (at r153 v76)
  (at r39 v77)
  (at r118 v78)
  (at r68 v79)
  (at r125 v80)
  (at r93 v81)
  (at r37 v82)
  (at r129 v83)
  (at r163 v84)
  (at r121 v85)
  (at r170 v86)
  (at r83 v87)
  (at r88 v88)
  (at r9 v89)
  (at r150 v90)
  (at r116 v91)
  (at r103 v92)
  (at r132 v93)
  (at r41 v94)
  (at r143 v95)
  (at r11 v96)
  (at r46 v97)
  (at r81 v98)
  (at r26 v99)
  (at r161 v100)
  (at r99 v101)
  (at r31 v102)
  (at r15 v103)
  (at r44 v104)
  (at r133 v105)
  (at r25 v106)
  (at r49 v107)
  (at r90 v108)
  (at r105 v109)
  (at r113 v110)
  (at r141 v111)
  (at r164 v112)
  (at r73 v113)
  (at r80 v114)
  (at r32 v115)
  (at r21 v116)
  (at r85 v117)
  (at r167 v118)
  (at r61 v119)
  (at r119 v120)
  (at r114 v121)
  (at r96 v122)
  (at r89 v123)
  (at r146 v124)
  (at r91 v125)
  (at r109 v126)
  (at r168 v127)
  (at r111 v128)
  (at r57 v129)
  (at r43 v130)
  (at r66 v131)
  (at r75 v132)
  (at r169 v133)
  (at r126 v134)
  (at r142 v135)
  (at r134 v136)
  (at r130 v137)
  (at r159 v138)
  (at r106 v139)
  (at r58 v140)
  (at r124 v141)
  (at r84 v142)
  (at r162 v143)
  (at r86 v144)
  (at r79 v145)
  (at r50 v146)
  (at r45 v147)
  (at r40 v148)
  (at r13 v149)
  (at r151 v150)
  (at r27 v151)
  (at r76 v152)
  (at r139 v153)
  (at r97 v154)
  (at r74 v155)
  (at r16 v156)
  (free v157)
  (at r70 v158)
  (at r140 v159)
  (at r34 v160)
  (at r82 v161)
  (at r60 v162)
  (at r131 v163)
  (at r12 v164)
  (at r115 v165)
  (at r166 v166)
  (at r173 v167)
  (at r158 v168)
  (at r171 v169)
  (at r144 v170)
  (at r137 v171)
  (at r18 v172)
  (at r56 v173)
  (at r147 v174)
  )
 )
)