(define (problem multirobot_48_2_c2)
 (:domain multirobot)
 (:objects
  v0 r53
  v1 r51
  v2 r93
  v3 r77
  v4 r144
  v5 r32
  v6 r33
  v7 r52
  v8 r56
  v9 r25
  v10 r14
  v11 r86
  v12 r166
  v13 r163
  v14 r180
  v15 r10
  v16 r133
  v17 r181
  v18 r157
  v19 r80
  v20 r139
  v21 r159
  v22 r31
  v23 r63
  v24 r3
  v25 r49
  v26 r91
  v27 r142
  v28 r75
  v29 r168
  v30 r100
  v31 r102
  v32 r135
  v33 r131
  v34 r175
  v35 r121
  v36 r4
  v37 r59
  v38 r55
  v39 r136
  v40 r46
  v41 r6
  v42 r107
  v43 r71
  v44 r24
  v45 r41
  v46 r122
  v47 r101
  v48 r148
  v49 r129
  v50 r164
  v51 r165
  v52 r78
  v53 r74
  v54 r15
  v55 r16
  v56 r137
  v57 r73
  v58 r182
  v59 r7
  v60 r170
  v61 r48
  v62 r156
  v63 r151
  v64 r67
  v65 r87
  v66 r34
  v67 r98
  v68 r70
  v69 r108
  v70 r5
  v71 r11
  v72 r97
  v73 r94
  v74 r92
  v75 r124
  v76 r95
  v77 r177
  v78 r178
  v79 r171
  v80 r169
  v81 r44
  v82 r30
  v83 r22
  v84 r154
  v85 r125
  v86 r173
  v87 r45
  v88 r103
  v89 r68
  v90 r132
  v91 r158
  v92 r113
  v93 r179
  v94 r149
  v95 r26
  v96 r40
  v97 r99
  v98 r96
  v99 r69
  v100 r140
  v101 r79
  v102 r18
  v103 r89
  v104 r109
  v105 r128
  v106 r39
  v107 r54
  v108 r37
  v109 r167
  v110 r66
  v111 r50
  v112
  v113 r62
  v114 r105
  v115 r65
  v116 r21
  v117 r2
  v118 r119
  v119
  v120 r155
  v121 r72
  v122 r36
  v123 r127
  v124 r150
  v125 r176
  v126 r82
  v127 r76
  v128 r116
  v129 r161
  v130 r117
  v131 r88
  v132 r183
  v133 r38
  v134 r9
  v135 r85
  v136 r19
  v137 r64
  v138 r17
  v139 r146
  v140 r47
  v141 r35
  v142 r174
  v143 r138
  v144 r43
  v145 r145
  v146 r104
  v147 r143
  v148 r58
  v149 r29
  v150 r12
  v151 r13
  v152 r8
  v153 r20
  v154 r23
  v155 r84
  v156 r27
  v157 r60
  v158 r81
  v159 r112
  v160 r90
  v161 r152
  v162 r162
  v163 r115
  v164 r42
  v165 r123
  v166 r172
  v167 r57
  v168 r114
  v169 r118
  v170 r141
  v171 r61
  v172 r160
  v173 r147
  v174 r111
  v175 r83
  v176 r134
  v177 r120
  v178 r28
  v179 r110
  v180 r106
  v181 r130
  v182 r126
  v183 r153
 )
 (:init
  (at r53 v0)
  (at r51 v1)
  (at r93 v2)
  (at r77 v3)
  (at r144 v4)
  (at r32 v5)
  (at r33 v6)
  (at r52 v7)
  (at r56 v8)
  (at r25 v9)
  (at r14 v10)
  (at r86 v11)
  (at r166 v12)
  (at r163 v13)
  (at r180 v14)
  (at r10 v15)
  (at r133 v16)
  (at r181 v17)
  (at r157 v18)
  (at r80 v19)
  (at r139 v20)
  (at r159 v21)
  (at r31 v22)
  (at r63 v23)
  (at r3 v24)
  (at r49 v25)
  (at r91 v26)
  (at r142 v27)
  (at r75 v28)
  (at r168 v29)
  (at r100 v30)
  (at r102 v31)
  (at r135 v32)
  (at r131 v33)
  (at r175 v34)
  (at r121 v35)
  (at r4 v36)
  (at r59 v37)
  (at r55 v38)
  (at r136 v39)
  (at r46 v40)
  (at r6 v41)
  (at r107 v42)
  (at r71 v43)
  (at r24 v44)
  (at r41 v45)
  (at r122 v46)
  (at r101 v47)
  (at r148 v48)
  (at r129 v49)
  (at r164 v50)
  (at r165 v51)
  (at r78 v52)
  (at r74 v53)
  (at r15 v54)
  (at r16 v55)
  (at r137 v56)
  (at r73 v57)
  (at r182 v58)
  (at r7 v59)
  (at r170 v60)
  (at r48 v61)
  (at r156 v62)
  (at r151 v63)
  (at r67 v64)
  (at r87 v65)
  (at r34 v66)
  (at r98 v67)
  (at r70 v68)
  (at r108 v69)
  (at r5 v70)
  (at r11 v71)
  (at r97 v72)
  (at r94 v73)
  (at r92 v74)
  (at r124 v75)
  (at r95 v76)
  (at r177 v77)
  (at r178 v78)
  (at r171 v79)
  (at r169 v80)
  (at r44 v81)
  (at r30 v82)
  (at r22 v83)
  (at r154 v84)
  (at r125 v85)
  (at r173 v86)
  (at r45 v87)
  (at r103 v88)
  (at r68 v89)
  (at r132 v90)
  (at r158 v91)
  (at r113 v92)
  (at r179 v93)
  (at r149 v94)
  (at r26 v95)
  (at r40 v96)
  (at r99 v97)
  (at r96 v98)
  (at r69 v99)
  (at r140 v100)
  (at r79 v101)
  (at r18 v102)
  (at r89 v103)
  (at r109 v104)
  (at r128 v105)
  (at r39 v106)
  (at r54 v107)
  (at r37 v108)
  (at r167 v109)
  (at r66 v110)
  (at r50 v111)
  (free v112)
  (at r62 v113)
  (at r105 v114)
  (at r65 v115)
  (at r21 v116)
  (at r2 v117)
  (at r119 v118)
  (free v119)
  (at r155 v120)
  (at r72 v121)
  (at r36 v122)
  (at r127 v123)
  (at r150 v124)
  (at r176 v125)
  (at r82 v126)
  (at r76 v127)
  (at r116 v128)
  (at r161 v129)
  (at r117 v130)
  (at r88 v131)
  (at r183 v132)
  (at r38 v133)
  (at r9 v134)
  (at r85 v135)
  (at r19 v136)
  (at r64 v137)
  (at r17 v138)
  (at r146 v139)
  (at r47 v140)
  (at r35 v141)
  (at r174 v142)
  (at r138 v143)
  (at r43 v144)
  (at r145 v145)
  (at r104 v146)
  (at r143 v147)
  (at r58 v148)
  (at r29 v149)
  (at r12 v150)
  (at r13 v151)
  (at r8 v152)
  (at r20 v153)
  (at r23 v154)
  (at r84 v155)
  (at r27 v156)
  (at r60 v157)
  (at r81 v158)
  (at r112 v159)
  (at r90 v160)
  (at r152 v161)
  (at r162 v162)
  (at r115 v163)
  (at r42 v164)
  (at r123 v165)
  (at r172 v166)
  (at r57 v167)
  (at r114 v168)
  (at r118 v169)
  (at r141 v170)
  (at r61 v171)
  (at r160 v172)
  (at r147 v173)
  (at r111 v174)
  (at r83 v175)
  (at r134 v176)
  (at r120 v177)
  (at r28 v178)
  (at r110 v179)
  (at r106 v180)
  (at r130 v181)
  (at r126 v182)
  (at r153 v183)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v20)
  (adjacent v1 v33)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v14)
  (adjacent v2 v105)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v8)
  (adjacent v3 v13)
  (adjacent v3 v32)
  (adjacent v4 v5)
  (adjacent v4 v10)
  (adjacent v4 v92)
  (adjacent v5 v9)
  (adjacent v5 v64)
  (adjacent v6 v7)
  (adjacent v6 v43)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v53)
  (adjacent v8 v93)
  (adjacent v9 v14)
  (adjacent v9 v54)
  (adjacent v9 v148)
  (adjacent v10 v11)
  (adjacent v10 v43)
  (adjacent v11 v12)
  (adjacent v11 v15)
  (adjacent v12 v13)
  (adjacent v12 v58)
  (adjacent v13 v27)
  (adjacent v13 v50)
  (adjacent v14 v131)
  (adjacent v15 v16)
  (adjacent v15 v42)
  (adjacent v15 v74)
  (adjacent v15 v112)
  (adjacent v16 v17)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v98)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v19 v29)
  (adjacent v20 v71)
  (adjacent v21 v22)
  (adjacent v21 v158)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v22 v39)
  (adjacent v22 v49)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v81)
  (adjacent v26 v27)
  (adjacent v26 v38)
  (adjacent v28 v29)
  (adjacent v29 v63)
  (adjacent v29 v86)
  (adjacent v29 v114)
  (adjacent v30 v31)
  (adjacent v30 v68)
  (adjacent v30 v75)
  (adjacent v30 v82)
  (adjacent v31 v32)
  (adjacent v31 v65)
  (adjacent v32 v40)
  (adjacent v32 v66)
  (adjacent v32 v136)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v44)
  (adjacent v34 v69)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v41)
  (adjacent v36 v59)
  (adjacent v37 v38)
  (adjacent v37 v105)
  (adjacent v37 v174)
  (adjacent v38 v40)
  (adjacent v40 v73)
  (adjacent v41 v42)
  (adjacent v44 v45)
  (adjacent v44 v159)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v70)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v67)
  (adjacent v52 v53)
  (adjacent v52 v133)
  (adjacent v52 v136)
  (adjacent v53 v62)
  (adjacent v54 v55)
  (adjacent v54 v87)
  (adjacent v54 v120)
  (adjacent v54 v137)
  (adjacent v55 v56)
  (adjacent v55 v74)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v127)
  (adjacent v57 v150)
  (adjacent v59 v60)
  (adjacent v59 v97)
  (adjacent v60 v61)
  (adjacent v60 v167)
  (adjacent v61 v62)
  (adjacent v61 v132)
  (adjacent v63 v64)
  (adjacent v64 v121)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v142)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v151)
  (adjacent v84 v85)
  (adjacent v84 v132)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v104)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v106)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v98 v111)
  (adjacent v99 v100)
  (adjacent v99 v173)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v113)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v160)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v143)
  (adjacent v112 v113)
  (adjacent v112 v159)
  (adjacent v113 v151)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v135)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v128)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v166)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v180)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v147)
  (adjacent v132 v181)
  (adjacent v133 v134)
  (adjacent v133 v152)
  (adjacent v134 v135)
  (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 v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v160 v161)
  (adjacent v160 v183)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v182 v183)
 )
 (:goal
  (and
  (at r23 v0)
  (at r84 v1)
  (at r35 v2)
  (at r62 v3)
  (at r79 v4)
  (at r144 v5)
  (at r41 v6)
  (at r129 v7)
  (at r7 v8)
  (at r87 v9)
  (at r93 v10)
  (at r176 v11)
  (at r161 v12)
  (at r118 v13)
  (at r20 v14)
  (at r181 v15)
  (at r102 v16)
  (at r112 v17)
  (at r171 v18)
  (free v19)
  (at r150 v20)
  (at r42 v21)
  (at r2 v22)
  (at r43 v23)
  (at r85 v24)
  (at r114 v25)
  (at r27 v26)
  (at r109 v27)
  (at r71 v28)
  (at r119 v29)
  (at r26 v30)
  (at r97 v31)
  (at r163 v32)
  (at r116 v33)
  (at r40 v34)
  (at r117 v35)
  (at r86 v36)
  (at r13 v37)
  (at r38 v38)
  (at r178 v39)
  (at r59 v40)
  (at r166 v41)
  (at r47 v42)
  (at r164 v43)
  (at r99 v44)
  (at r155 v45)
  (at r29 v46)
  (at r76 v47)
  (at r75 v48)
  (at r182 v49)
  (at r183 v50)
  (at r142 v51)
  (at r139 v52)
  (at r9 v53)
  (at r81 v54)
  (at r162 v55)
  (at r156 v56)
  (at r113 v57)
  (at r45 v58)
  (at r54 v59)
  (at r51 v60)
  (at r148 v61)
  (at r21 v62)
  (at r78 v63)
  (at r18 v64)
  (at r126 v65)
  (at r89 v66)
  (at r88 v67)
  (at r107 v68)
  (at r8 v69)
  (at r159 v70)
  (at r50 v71)
  (at r80 v72)
  (at r128 v73)
  (at r165 v74)
  (at r141 v75)
  (at r14 v76)
  (at r143 v77)
  (at r170 v78)
  (at r121 v79)
  (at r172 v80)
  (at r96 v81)
  (at r146 v82)
  (at r177 v83)
  (at r100 v84)
  (at r92 v85)
  (at r94 v86)
  (at r24 v87)
  (at r10 v88)
  (at r6 v89)
  (at r53 v90)
  (at r22 v91)
  (at r151 v92)
  (at r32 v93)
  (at r90 v94)
  (at r147 v95)
  (at r72 v96)
  (at r157 v97)
  (at r33 v98)
  (at r131 v99)
  (at r134 v100)
  (at r44 v101)
  (at r12 v102)
  (at r98 v103)
  (at r82 v104)
  (at r124 v105)
  (at r133 v106)
  (at r154 v107)
  (at r70 v108)
  (at r39 v109)
  (at r136 v110)
  (at r77 v111)
  (at r105 v112)
  (at r74 v113)
  (at r158 v114)
  (at r120 v115)
  (at r58 v116)
  (at r122 v117)
  (at r130 v118)
  (at r180 v119)
  (at r167 v120)
  (at r55 v121)
  (at r3 v122)
  (at r111 v123)
  (at r108 v124)
  (at r15 v125)
  (at r149 v126)
  (at r73 v127)
  (at r64 v128)
  (free v129)
  (at r5 v130)
  (at r127 v131)
  (at r174 v132)
  (at r56 v133)
  (at r69 v134)
  (at r95 v135)
  (at r30 v136)
  (at r11 v137)
  (at r123 v138)
  (at r37 v139)
  (at r110 v140)
  (at r49 v141)
  (at r104 v142)
  (at r83 v143)
  (at r28 v144)
  (at r48 v145)
  (at r135 v146)
  (at r4 v147)
  (at r65 v148)
  (at r153 v149)
  (at r34 v150)
  (at r115 v151)
  (at r16 v152)
  (at r52 v153)
  (at r138 v154)
  (at r106 v155)
  (at r169 v156)
  (at r137 v157)
  (at r61 v158)
  (at r68 v159)
  (at r101 v160)
  (at r60 v161)
  (at r132 v162)
  (at r17 v163)
  (at r173 v164)
  (at r63 v165)
  (at r179 v166)
  (at r152 v167)
  (at r140 v168)
  (at r31 v169)
  (at r168 v170)
  (at r57 v171)
  (at r91 v172)
  (at r46 v173)
  (at r160 v174)
  (at r36 v175)
  (at r66 v176)
  (at r67 v177)
  (at r19 v178)
  (at r25 v179)
  (at r125 v180)
  (at r175 v181)
  (at r145 v182)
  (at r103 v183)
  )
 )
)