(define (problem multirobot_48_2_c4)
 (:domain multirobot)
 (:objects
  v0 r34
  v1 r173
  v2 r46
  v3 r127
  v4 r12
  v5 r42
  v6 r146
  v7 r19
  v8 r29
  v9 r26
  v10 r131
  v11 r101
  v12 r65
  v13 r159
  v14 r39
  v15 r129
  v16 r35
  v17 r124
  v18 r175
  v19 r120
  v20 r132
  v21 r33
  v22 r172
  v23 r69
  v24 r37
  v25 r138
  v26 r23
  v27 r174
  v28 r22
  v29 r16
  v30 r86
  v31 r6
  v32 r81
  v33 r54
  v34 r51
  v35 r91
  v36 r68
  v37 r148
  v38
  v39 r102
  v40 r100
  v41 r123
  v42 r13
  v43 r154
  v44 r75
  v45 r94
  v46 r177
  v47 r114
  v48 r110
  v49 r67
  v50 r164
  v51 r135
  v52 r78
  v53 r134
  v54 r163
  v55 r50
  v56 r183
  v57 r168
  v58 r53
  v59 r119
  v60 r9
  v61 r161
  v62 r27
  v63 r32
  v64 r28
  v65
  v66 r8
  v67 r36
  v68 r144
  v69 r10
  v70 r5
  v71 r117
  v72 r14
  v73 r11
  v74 r152
  v75 r55
  v76 r57
  v77 r97
  v78 r181
  v79 r87
  v80 r150
  v81 r70
  v82 r108
  v83 r112
  v84 r30
  v85 r84
  v86 r40
  v87 r176
  v88 r92
  v89 r142
  v90 r52
  v91 r105
  v92 r72
  v93 r109
  v94 r96
  v95 r147
  v96 r153
  v97 r95
  v98 r121
  v99 r90
  v100 r71
  v101 r59
  v102 r56
  v103 r104
  v104 r166
  v105 r106
  v106 r61
  v107 r158
  v108 r4
  v109 r18
  v110 r111
  v111 r83
  v112 r128
  v113 r58
  v114 r77
  v115 r169
  v116 r155
  v117 r122
  v118 r60
  v119 r24
  v120 r141
  v121 r38
  v122 r66
  v123 r179
  v124 r74
  v125 r171
  v126 r180
  v127 r113
  v128 r115
  v129 r88
  v130 r79
  v131 r137
  v132 r103
  v133 r44
  v134 r49
  v135 r156
  v136 r3
  v137 r21
  v138 r160
  v139 r140
  v140 r85
  v141 r20
  v142 r162
  v143 r165
  v144 r107
  v145 r133
  v146 r116
  v147 r48
  v148 r43
  v149 r82
  v150 r25
  v151 r118
  v152 r2
  v153 r73
  v154 r178
  v155 r17
  v156 r157
  v157 r136
  v158 r45
  v159 r76
  v160 r182
  v161 r31
  v162 r125
  v163 r139
  v164 r80
  v165 r167
  v166 r64
  v167 r62
  v168 r170
  v169 r41
  v170 r98
  v171 r143
  v172 r99
  v173 r126
  v174 r93
  v175 r7
  v176 r149
  v177 r151
  v178 r47
  v179 r63
  v180 r15
  v181 r145
  v182 r130
  v183 r89
 )
 (:init
  (at r34 v0)
  (at r173 v1)
  (at r46 v2)
  (at r127 v3)
  (at r12 v4)
  (at r42 v5)
  (at r146 v6)
  (at r19 v7)
  (at r29 v8)
  (at r26 v9)
  (at r131 v10)
  (at r101 v11)
  (at r65 v12)
  (at r159 v13)
  (at r39 v14)
  (at r129 v15)
  (at r35 v16)
  (at r124 v17)
  (at r175 v18)
  (at r120 v19)
  (at r132 v20)
  (at r33 v21)
  (at r172 v22)
  (at r69 v23)
  (at r37 v24)
  (at r138 v25)
  (at r23 v26)
  (at r174 v27)
  (at r22 v28)
  (at r16 v29)
  (at r86 v30)
  (at r6 v31)
  (at r81 v32)
  (at r54 v33)
  (at r51 v34)
  (at r91 v35)
  (at r68 v36)
  (at r148 v37)
  (free v38)
  (at r102 v39)
  (at r100 v40)
  (at r123 v41)
  (at r13 v42)
  (at r154 v43)
  (at r75 v44)
  (at r94 v45)
  (at r177 v46)
  (at r114 v47)
  (at r110 v48)
  (at r67 v49)
  (at r164 v50)
  (at r135 v51)
  (at r78 v52)
  (at r134 v53)
  (at r163 v54)
  (at r50 v55)
  (at r183 v56)
  (at r168 v57)
  (at r53 v58)
  (at r119 v59)
  (at r9 v60)
  (at r161 v61)
  (at r27 v62)
  (at r32 v63)
  (at r28 v64)
  (free v65)
  (at r8 v66)
  (at r36 v67)
  (at r144 v68)
  (at r10 v69)
  (at r5 v70)
  (at r117 v71)
  (at r14 v72)
  (at r11 v73)
  (at r152 v74)
  (at r55 v75)
  (at r57 v76)
  (at r97 v77)
  (at r181 v78)
  (at r87 v79)
  (at r150 v80)
  (at r70 v81)
  (at r108 v82)
  (at r112 v83)
  (at r30 v84)
  (at r84 v85)
  (at r40 v86)
  (at r176 v87)
  (at r92 v88)
  (at r142 v89)
  (at r52 v90)
  (at r105 v91)
  (at r72 v92)
  (at r109 v93)
  (at r96 v94)
  (at r147 v95)
  (at r153 v96)
  (at r95 v97)
  (at r121 v98)
  (at r90 v99)
  (at r71 v100)
  (at r59 v101)
  (at r56 v102)
  (at r104 v103)
  (at r166 v104)
  (at r106 v105)
  (at r61 v106)
  (at r158 v107)
  (at r4 v108)
  (at r18 v109)
  (at r111 v110)
  (at r83 v111)
  (at r128 v112)
  (at r58 v113)
  (at r77 v114)
  (at r169 v115)
  (at r155 v116)
  (at r122 v117)
  (at r60 v118)
  (at r24 v119)
  (at r141 v120)
  (at r38 v121)
  (at r66 v122)
  (at r179 v123)
  (at r74 v124)
  (at r171 v125)
  (at r180 v126)
  (at r113 v127)
  (at r115 v128)
  (at r88 v129)
  (at r79 v130)
  (at r137 v131)
  (at r103 v132)
  (at r44 v133)
  (at r49 v134)
  (at r156 v135)
  (at r3 v136)
  (at r21 v137)
  (at r160 v138)
  (at r140 v139)
  (at r85 v140)
  (at r20 v141)
  (at r162 v142)
  (at r165 v143)
  (at r107 v144)
  (at r133 v145)
  (at r116 v146)
  (at r48 v147)
  (at r43 v148)
  (at r82 v149)
  (at r25 v150)
  (at r118 v151)
  (at r2 v152)
  (at r73 v153)
  (at r178 v154)
  (at r17 v155)
  (at r157 v156)
  (at r136 v157)
  (at r45 v158)
  (at r76 v159)
  (at r182 v160)
  (at r31 v161)
  (at r125 v162)
  (at r139 v163)
  (at r80 v164)
  (at r167 v165)
  (at r64 v166)
  (at r62 v167)
  (at r170 v168)
  (at r41 v169)
  (at r98 v170)
  (at r143 v171)
  (at r99 v172)
  (at r126 v173)
  (at r93 v174)
  (at r7 v175)
  (at r149 v176)
  (at r151 v177)
  (at r47 v178)
  (at r63 v179)
  (at r15 v180)
  (at r145 v181)
  (at r130 v182)
  (at r89 v183)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v47)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v46)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v10)
  (adjacent v3 v11)
  (adjacent v3 v24)
  (adjacent v4 v6)
  (adjacent v4 v12)
  (adjacent v4 v40)
  (adjacent v4 v132)
  (adjacent v5 v122)
  (adjacent v5 v129)
  (adjacent v6 v56)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v18)
  (adjacent v7 v41)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v9 v159)
  (adjacent v10 v17)
  (adjacent v11 v12)
  (adjacent v11 v33)
  (adjacent v12 v75)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v27)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v68)
  (adjacent v15 v16)
  (adjacent v15 v53)
  (adjacent v15 v94)
  (adjacent v16 v17)
  (adjacent v16 v134)
  (adjacent v16 v148)
  (adjacent v17 v18)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v54)
  (adjacent v21 v22)
  (adjacent v21 v26)
  (adjacent v22 v23)
  (adjacent v22 v95)
  (adjacent v23 v24)
  (adjacent v23 v25)
  (adjacent v23 v34)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v182)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v108)
  (adjacent v33 v165)
  (adjacent v34 v35)
  (adjacent v34 v55)
  (adjacent v35 v36)
  (adjacent v35 v81)
  (adjacent v36 v37)
  (adjacent v36 v133)
  (adjacent v37 v38)
  (adjacent v37 v57)
  (adjacent v37 v61)
  (adjacent v37 v128)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v98)
  (adjacent v39 v171)
  (adjacent v40 v82)
  (adjacent v40 v133)
  (adjacent v41 v42)
  (adjacent v41 v54)
  (adjacent v42 v43)
  (adjacent v42 v117)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v109)
  (adjacent v47 v48)
  (adjacent v47 v76)
  (adjacent v47 v101)
  (adjacent v48 v49)
  (adjacent v48 v112)
  (adjacent v48 v116)
  (adjacent v48 v163)
  (adjacent v49 v50)
  (adjacent v49 v143)
  (adjacent v49 v170)
  (adjacent v50 v51)
  (adjacent v50 v55)
  (adjacent v50 v97)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v139)
  (adjacent v53 v58)
  (adjacent v53 v102)
  (adjacent v53 v118)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v62)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v124)
  (adjacent v60 v151)
  (adjacent v61 v69)
  (adjacent v62 v63)
  (adjacent v62 v87)
  (adjacent v62 v161)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v174)
  (adjacent v65 v175)
  (adjacent v66 v67)
  (adjacent v66 v183)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v88)
  (adjacent v70 v71)
  (adjacent v70 v164)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v166)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v123)
  (adjacent v87 v149)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v115)
  (adjacent v91 v92)
  (adjacent v91 v113)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v139)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v123)
  (adjacent v111 v112)
  (adjacent v112 v158)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v140)
  (adjacent v120 v144)
  (adjacent v121 v122)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v138)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v160)
  (adjacent v140 v141)
  (adjacent v140 v182)
  (adjacent v141 v142)
  (adjacent v141 v181)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v144 v183)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v150 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
 )
 (:goal
  (and
  (at r141 v0)
  (at r76 v1)
  (at r37 v2)
  (at r116 v3)
  (at r134 v4)
  (at r86 v5)
  (at r65 v6)
  (at r153 v7)
  (at r178 v8)
  (at r23 v9)
  (at r94 v10)
  (at r166 v11)
  (at r97 v12)
  (at r89 v13)
  (at r103 v14)
  (at r8 v15)
  (at r3 v16)
  (at r163 v17)
  (at r67 v18)
  (at r143 v19)
  (at r5 v20)
  (at r96 v21)
  (at r106 v22)
  (at r174 v23)
  (at r110 v24)
  (at r102 v25)
  (at r49 v26)
  (at r14 v27)
  (at r142 v28)
  (at r80 v29)
  (at r30 v30)
  (at r91 v31)
  (at r62 v32)
  (at r42 v33)
  (at r133 v34)
  (at r115 v35)
  (at r167 v36)
  (at r9 v37)
  (at r19 v38)
  (at r99 v39)
  (at r168 v40)
  (at r162 v41)
  (at r126 v42)
  (at r38 v43)
  (at r135 v44)
  (at r21 v45)
  (at r161 v46)
  (at r183 v47)
  (at r137 v48)
  (at r28 v49)
  (at r20 v50)
  (at r34 v51)
  (at r124 v52)
  (at r79 v53)
  (at r101 v54)
  (at r43 v55)
  (at r154 v56)
  (at r18 v57)
  (at r46 v58)
  (at r90 v59)
  (at r157 v60)
  (at r35 v61)
  (at r160 v62)
  (at r122 v63)
  (at r27 v64)
  (at r41 v65)
  (at r40 v66)
  (at r12 v67)
  (at r172 v68)
  (at r165 v69)
  (at r113 v70)
  (at r25 v71)
  (at r93 v72)
  (at r50 v73)
  (at r73 v74)
  (at r179 v75)
  (at r109 v76)
  (at r55 v77)
  (at r127 v78)
  (at r45 v79)
  (at r78 v80)
  (at r24 v81)
  (at r140 v82)
  (at r128 v83)
  (at r53 v84)
  (at r150 v85)
  (at r158 v86)
  (at r100 v87)
  (at r85 v88)
  (at r31 v89)
  (at r83 v90)
  (at r81 v91)
  (at r56 v92)
  (at r44 v93)
  (at r111 v94)
  (at r114 v95)
  (at r82 v96)
  (at r147 v97)
  (at r4 v98)
  (at r108 v99)
  (at r105 v100)
  (at r132 v101)
  (at r70 v102)
  (at r177 v103)
  (at r17 v104)
  (at r119 v105)
  (at r125 v106)
  (at r77 v107)
  (at r98 v108)
  (at r64 v109)
  (at r120 v110)
  (at r88 v111)
  (at r182 v112)
  (at r60 v113)
  (free v114)
  (at r130 v115)
  (at r176 v116)
  (at r84 v117)
  (at r29 v118)
  (at r112 v119)
  (at r155 v120)
  (at r68 v121)
  (at r151 v122)
  (at r61 v123)
  (at r52 v124)
  (at r156 v125)
  (at r180 v126)
  (at r107 v127)
  (at r22 v128)
  (at r66 v129)
  (at r11 v130)
  (at r48 v131)
  (at r146 v132)
  (at r39 v133)
  (at r71 v134)
  (at r164 v135)
  (at r69 v136)
  (at r36 v137)
  (at r136 v138)
  (at r57 v139)
  (at r10 v140)
  (at r169 v141)
  (at r95 v142)
  (at r7 v143)
  (at r6 v144)
  (at r145 v145)
  (at r13 v146)
  (at r63 v147)
  (at r58 v148)
  (at r117 v149)
  (at r139 v150)
  (at r87 v151)
  (at r159 v152)
  (free v153)
  (at r152 v154)
  (at r131 v155)
  (at r173 v156)
  (at r16 v157)
  (at r74 v158)
  (at r171 v159)
  (at r121 v160)
  (at r75 v161)
  (at r149 v162)
  (at r72 v163)
  (at r92 v164)
  (at r129 v165)
  (at r181 v166)
  (at r175 v167)
  (at r148 v168)
  (at r32 v169)
  (at r138 v170)
  (at r54 v171)
  (at r118 v172)
  (at r15 v173)
  (at r47 v174)
  (at r104 v175)
  (at r170 v176)
  (at r2 v177)
  (at r51 v178)
  (at r33 v179)
  (at r123 v180)
  (at r26 v181)
  (at r144 v182)
  (at r59 v183)
  )
 )
)