(define (problem multirobot_48_2_c1)
 (:domain multirobot)
 (:objects
  v0 r50
  v1 r51
  v2 r46
  v3 r172
  v4 r27
  v5 r45
  v6 r59
  v7 r81
  v8 r102
  v9 r87
  v10 r64
  v11 r95
  v12 r126
  v13 r148
  v14 r153
  v15 r34
  v16 r47
  v17 r103
  v18 r165
  v19 r71
  v20 r48
  v21 r135
  v22 r6
  v23 r166
  v24 r2
  v25 r94
  v26 r4
  v27 r152
  v28 r157
  v29 r77
  v30 r158
  v31 r55
  v32 r144
  v33 r67
  v34 r89
  v35 r110
  v36 r91
  v37 r75
  v38 r74
  v39 r146
  v40 r109
  v41 r104
  v42 r21
  v43
  v44 r92
  v45 r31
  v46 r26
  v47 r9
  v48 r123
  v49 r8
  v50 r169
  v51 r36
  v52 r83
  v53 r53
  v54 r150
  v55 r40
  v56 r33
  v57 r10
  v58 r131
  v59 r38
  v60 r160
  v61 r133
  v62 r134
  v63 r128
  v64 r141
  v65 r137
  v66 r82
  v67 r118
  v68 r70
  v69 r80
  v70 r32
  v71 r62
  v72 r174
  v73
  v74 r116
  v75 r130
  v76 r88
  v77 r18
  v78 r37
  v79 r98
  v80 r3
  v81 r105
  v82 r14
  v83 r84
  v84 r35
  v85 r119
  v86 r149
  v87 r79
  v88 r19
  v89 r63
  v90 r127
  v91 r121
  v92 r78
  v93 r151
  v94 r155
  v95 r65
  v96 r162
  v97 r72
  v98 r138
  v99 r115
  v100 r30
  v101 r108
  v102 r15
  v103 r122
  v104 r136
  v105 r96
  v106 r60
  v107 r20
  v108 r159
  v109 r125
  v110 r39
  v111 r143
  v112 r73
  v113 r114
  v114 r76
  v115 r111
  v116 r22
  v117 r86
  v118 r43
  v119 r173
  v120 r99
  v121 r69
  v122 r16
  v123 r66
  v124 r147
  v125 r129
  v126 r25
  v127 r113
  v128 r176
  v129 r29
  v130 r44
  v131 r164
  v132 r161
  v133 r13
  v134 r24
  v135 r7
  v136 r168
  v137 r17
  v138 r100
  v139 r57
  v140 r93
  v141 r120
  v142 r163
  v143 r49
  v144 r97
  v145 r107
  v146 r61
  v147 r11
  v148 r58
  v149 r171
  v150 r56
  v151 r139
  v152 r23
  v153 r90
  v154 r170
  v155 r124
  v156 r132
  v157 r12
  v158 r140
  v159 r167
  v160 r142
  v161 r112
  v162 r154
  v163 r68
  v164 r175
  v165 r106
  v166 r42
  v167 r117
  v168 r5
  v169 r156
  v170 r85
  v171 r41
  v172 r28
  v173 r54
  v174 r101
  v175 r177
  v176 r145
  v177 r52
 )
 (:init
  (at r50 v0)
  (at r51 v1)
  (at r46 v2)
  (at r172 v3)
  (at r27 v4)
  (at r45 v5)
  (at r59 v6)
  (at r81 v7)
  (at r102 v8)
  (at r87 v9)
  (at r64 v10)
  (at r95 v11)
  (at r126 v12)
  (at r148 v13)
  (at r153 v14)
  (at r34 v15)
  (at r47 v16)
  (at r103 v17)
  (at r165 v18)
  (at r71 v19)
  (at r48 v20)
  (at r135 v21)
  (at r6 v22)
  (at r166 v23)
  (at r2 v24)
  (at r94 v25)
  (at r4 v26)
  (at r152 v27)
  (at r157 v28)
  (at r77 v29)
  (at r158 v30)
  (at r55 v31)
  (at r144 v32)
  (at r67 v33)
  (at r89 v34)
  (at r110 v35)
  (at r91 v36)
  (at r75 v37)
  (at r74 v38)
  (at r146 v39)
  (at r109 v40)
  (at r104 v41)
  (at r21 v42)
  (free v43)
  (at r92 v44)
  (at r31 v45)
  (at r26 v46)
  (at r9 v47)
  (at r123 v48)
  (at r8 v49)
  (at r169 v50)
  (at r36 v51)
  (at r83 v52)
  (at r53 v53)
  (at r150 v54)
  (at r40 v55)
  (at r33 v56)
  (at r10 v57)
  (at r131 v58)
  (at r38 v59)
  (at r160 v60)
  (at r133 v61)
  (at r134 v62)
  (at r128 v63)
  (at r141 v64)
  (at r137 v65)
  (at r82 v66)
  (at r118 v67)
  (at r70 v68)
  (at r80 v69)
  (at r32 v70)
  (at r62 v71)
  (at r174 v72)
  (free v73)
  (at r116 v74)
  (at r130 v75)
  (at r88 v76)
  (at r18 v77)
  (at r37 v78)
  (at r98 v79)
  (at r3 v80)
  (at r105 v81)
  (at r14 v82)
  (at r84 v83)
  (at r35 v84)
  (at r119 v85)
  (at r149 v86)
  (at r79 v87)
  (at r19 v88)
  (at r63 v89)
  (at r127 v90)
  (at r121 v91)
  (at r78 v92)
  (at r151 v93)
  (at r155 v94)
  (at r65 v95)
  (at r162 v96)
  (at r72 v97)
  (at r138 v98)
  (at r115 v99)
  (at r30 v100)
  (at r108 v101)
  (at r15 v102)
  (at r122 v103)
  (at r136 v104)
  (at r96 v105)
  (at r60 v106)
  (at r20 v107)
  (at r159 v108)
  (at r125 v109)
  (at r39 v110)
  (at r143 v111)
  (at r73 v112)
  (at r114 v113)
  (at r76 v114)
  (at r111 v115)
  (at r22 v116)
  (at r86 v117)
  (at r43 v118)
  (at r173 v119)
  (at r99 v120)
  (at r69 v121)
  (at r16 v122)
  (at r66 v123)
  (at r147 v124)
  (at r129 v125)
  (at r25 v126)
  (at r113 v127)
  (at r176 v128)
  (at r29 v129)
  (at r44 v130)
  (at r164 v131)
  (at r161 v132)
  (at r13 v133)
  (at r24 v134)
  (at r7 v135)
  (at r168 v136)
  (at r17 v137)
  (at r100 v138)
  (at r57 v139)
  (at r93 v140)
  (at r120 v141)
  (at r163 v142)
  (at r49 v143)
  (at r97 v144)
  (at r107 v145)
  (at r61 v146)
  (at r11 v147)
  (at r58 v148)
  (at r171 v149)
  (at r56 v150)
  (at r139 v151)
  (at r23 v152)
  (at r90 v153)
  (at r170 v154)
  (at r124 v155)
  (at r132 v156)
  (at r12 v157)
  (at r140 v158)
  (at r167 v159)
  (at r142 v160)
  (at r112 v161)
  (at r154 v162)
  (at r68 v163)
  (at r175 v164)
  (at r106 v165)
  (at r42 v166)
  (at r117 v167)
  (at r5 v168)
  (at r156 v169)
  (at r85 v170)
  (at r41 v171)
  (at r28 v172)
  (at r54 v173)
  (at r101 v174)
  (at r177 v175)
  (at r145 v176)
  (at r52 v177)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v16)
  (adjacent v2 v24)
  (adjacent v2 v31)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v18)
  (adjacent v3 v49)
  (adjacent v4 v17)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v5 v51)
  (adjacent v6 v7)
  (adjacent v6 v9)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v7 v38)
  (adjacent v7 v149)
  (adjacent v8 v117)
  (adjacent v8 v166)
  (adjacent v9 v10)
  (adjacent v9 v46)
  (adjacent v9 v76)
  (adjacent v10 v11)
  (adjacent v10 v33)
  (adjacent v10 v56)
  (adjacent v11 v12)
  (adjacent v11 v78)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v13 v41)
  (adjacent v14 v15)
  (adjacent v15 v45)
  (adjacent v17 v30)
  (adjacent v17 v47)
  (adjacent v18 v19)
  (adjacent v18 v25)
  (adjacent v18 v28)
  (adjacent v19 v20)
  (adjacent v19 v148)
  (adjacent v20 v21)
  (adjacent v20 v96)
  (adjacent v20 v173)
  (adjacent v21 v22)
  (adjacent v21 v42)
  (adjacent v21 v46)
  (adjacent v22 v23)
  (adjacent v22 v27)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v34)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v30 v122)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v69)
  (adjacent v32 v77)
  (adjacent v32 v135)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v75)
  (adjacent v35 v103)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v92)
  (adjacent v38 v50)
  (adjacent v39 v40)
  (adjacent v39 v57)
  (adjacent v39 v75)
  (adjacent v39 v116)
  (adjacent v40 v41)
  (adjacent v40 v123)
  (adjacent v41 v63)
  (adjacent v41 v121)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v50)
  (adjacent v45 v65)
  (adjacent v45 v129)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v78)
  (adjacent v51 v52)
  (adjacent v51 v64)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v70)
  (adjacent v54 v147)
  (adjacent v55 v56)
  (adjacent v56 v155)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v85)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v74)
  (adjacent v61 v122)
  (adjacent v61 v144)
  (adjacent v62 v63)
  (adjacent v62 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v80)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v177)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v81)
  (adjacent v74 v79)
  (adjacent v75 v169)
  (adjacent v76 v77)
  (adjacent v76 v91)
  (adjacent v78 v84)
  (adjacent v79 v80)
  (adjacent v80 v112)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v95)
  (adjacent v84 v159)
  (adjacent v84 v161)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v102)
  (adjacent v87 v108)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v111)
  (adjacent v90 v91)
  (adjacent v90 v170)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v107)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v176)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v128)
  (adjacent v111 v134)
  (adjacent v111 v177)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v138)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v168)
  (adjacent v120 v121)
  (adjacent v122 v137)
  (adjacent v122 v145)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v141)
  (adjacent v126 v127)
  (adjacent v126 v174)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v160)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v165)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v169)
  (adjacent v140 v141)
  (adjacent v140 v142)
  (adjacent v142 v143)
  (adjacent v142 v148)
  (adjacent v142 v162)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v152 v156)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
 )
 (:goal
  (and
  (at r3 v0)
  (at r15 v1)
  (at r98 v2)
  (at r9 v3)
  (at r163 v4)
  (at r16 v5)
  (at r97 v6)
  (at r89 v7)
  (at r45 v8)
  (at r42 v9)
  (at r72 v10)
  (at r25 v11)
  (at r62 v12)
  (at r174 v13)
  (at r80 v14)
  (at r28 v15)
  (at r22 v16)
  (at r147 v17)
  (at r67 v18)
  (at r17 v19)
  (at r159 v20)
  (at r55 v21)
  (at r155 v22)
  (at r157 v23)
  (at r33 v24)
  (at r105 v25)
  (at r92 v26)
  (at r2 v27)
  (at r99 v28)
  (at r142 v29)
  (at r102 v30)
  (at r158 v31)
  (at r108 v32)
  (at r144 v33)
  (at r141 v34)
  (at r13 v35)
  (at r150 v36)
  (at r91 v37)
  (at r136 v38)
  (at r58 v39)
  (at r134 v40)
  (at r81 v41)
  (at r171 v42)
  (at r130 v43)
  (at r35 v44)
  (at r26 v45)
  (at r7 v46)
  (at r51 v47)
  (at r140 v48)
  (at r59 v49)
  (at r79 v50)
  (at r70 v51)
  (at r125 v52)
  (at r177 v53)
  (free v54)
  (at r139 v55)
  (at r87 v56)
  (at r145 v57)
  (at r54 v58)
  (at r149 v59)
  (at r71 v60)
  (at r23 v61)
  (at r86 v62)
  (at r39 v63)
  (at r156 v64)
  (at r166 v65)
  (at r127 v66)
  (at r169 v67)
  (at r154 v68)
  (at r21 v69)
  (at r90 v70)
  (at r107 v71)
  (at r83 v72)
  (at r167 v73)
  (at r74 v74)
  (at r113 v75)
  (at r12 v76)
  (at r126 v77)
  (at r152 v78)
  (at r82 v79)
  (at r111 v80)
  (at r11 v81)
  (at r88 v82)
  (at r148 v83)
  (at r95 v84)
  (at r8 v85)
  (at r37 v86)
  (at r53 v87)
  (at r84 v88)
  (at r40 v89)
  (at r77 v90)
  (at r106 v91)
  (at r61 v92)
  (at r85 v93)
  (at r19 v94)
  (at r30 v95)
  (at r66 v96)
  (at r115 v97)
  (at r143 v98)
  (at r68 v99)
  (at r57 v100)
  (at r116 v101)
  (at r120 v102)
  (at r32 v103)
  (at r133 v104)
  (at r93 v105)
  (at r96 v106)
  (at r112 v107)
  (at r56 v108)
  (at r137 v109)
  (at r5 v110)
  (at r162 v111)
  (at r122 v112)
  (at r46 v113)
  (at r119 v114)
  (at r14 v115)
  (at r128 v116)
  (at r52 v117)
  (at r50 v118)
  (at r94 v119)
  (at r153 v120)
  (at r78 v121)
  (at r48 v122)
  (at r63 v123)
  (at r49 v124)
  (at r36 v125)
  (at r100 v126)
  (at r109 v127)
  (at r117 v128)
  (at r29 v129)
  (at r43 v130)
  (at r165 v131)
  (at r6 v132)
  (at r160 v133)
  (at r131 v134)
  (at r38 v135)
  (at r161 v136)
  (at r24 v137)
  (at r69 v138)
  (at r104 v139)
  (at r175 v140)
  (at r64 v141)
  (at r118 v142)
  (at r65 v143)
  (at r170 v144)
  (at r151 v145)
  (at r60 v146)
  (at r110 v147)
  (at r135 v148)
  (at r114 v149)
  (at r123 v150)
  (at r176 v151)
  (at r146 v152)
  (at r20 v153)
  (at r75 v154)
  (at r129 v155)
  (at r103 v156)
  (at r124 v157)
  (at r132 v158)
  (at r101 v159)
  (at r47 v160)
  (at r4 v161)
  (at r73 v162)
  (at r76 v163)
  (at r10 v164)
  (at r18 v165)
  (at r41 v166)
  (at r31 v167)
  (free v168)
  (at r34 v169)
  (at r164 v170)
  (at r121 v171)
  (at r27 v172)
  (at r44 v173)
  (at r173 v174)
  (at r172 v175)
  (at r168 v176)
  (at r138 v177)
  )
 )
)