(define (problem multirobot_49_2_c4)
 (:domain multirobot)
 (:objects
  v0 r182
  v1 r153
  v2 r138
  v3 r77
  v4 r117
  v5 r40
  v6 r136
  v7 r131
  v8 r49
  v9 r165
  v10 r67
  v11 r54
  v12 r15
  v13 r73
  v14 r156
  v15 r145
  v16 r103
  v17 r152
  v18 r173
  v19 r38
  v20 r56
  v21 r55
  v22 r154
  v23 r144
  v24 r97
  v25 r171
  v26 r50
  v27 r17
  v28 r12
  v29 r63
  v30 r155
  v31 r147
  v32 r104
  v33 r180
  v34 r178
  v35 r80
  v36 r112
  v37 r94
  v38 r25
  v39 r10
  v40 r175
  v41 r48
  v42 r89
  v43 r164
  v44 r20
  v45 r172
  v46 r140
  v47 r29
  v48 r121
  v49 r43
  v50 r66
  v51 r181
  v52 r2
  v53 r105
  v54 r23
  v55 r93
  v56 r13
  v57 r114
  v58 r96
  v59 r109
  v60 r111
  v61 r87
  v62 r26
  v63 r174
  v64 r151
  v65 r30
  v66 r33
  v67 r59
  v68 r110
  v69 r42
  v70 r101
  v71 r19
  v72 r159
  v73 r150
  v74 r53
  v75 r161
  v76 r3
  v77 r127
  v78 r134
  v79 r86
  v80 r58
  v81 r92
  v82 r64
  v83 r78
  v84 r41
  v85 r84
  v86 r24
  v87 r143
  v88 r83
  v89 r170
  v90 r139
  v91 r169
  v92 r65
  v93 r108
  v94 r166
  v95 r149
  v96 r70
  v97 r90
  v98 r179
  v99 r125
  v100 r124
  v101 r31
  v102 r102
  v103 r69
  v104 r32
  v105 r39
  v106 r167
  v107 r163
  v108 r88
  v109 r98
  v110 r99
  v111 r132
  v112 r130
  v113 r6
  v114 r47
  v115 r76
  v116 r57
  v117 r107
  v118 r35
  v119 r7
  v120 r157
  v121 r22
  v122 r115
  v123 r129
  v124 r8
  v125 r45
  v126 r168
  v127 r46
  v128 r16
  v129 r4
  v130 r74
  v131 r176
  v132 r160
  v133 r44
  v134 r79
  v135 r81
  v136 r91
  v137 r128
  v138 r95
  v139 r36
  v140 r34
  v141 r51
  v142 r100
  v143 r61
  v144 r122
  v145 r5
  v146 r162
  v147 r141
  v148 r37
  v149
  v150 r14
  v151 r18
  v152 r113
  v153 r148
  v154 r72
  v155 r135
  v156 r133
  v157 r28
  v158 r137
  v159
  v160 r68
  v161 r9
  v162 r27
  v163 r116
  v164 r119
  v165 r146
  v166 r118
  v167 r60
  v168 r123
  v169 r106
  v170 r177
  v171 r75
  v172 r71
  v173 r126
  v174 r52
  v175 r85
  v176 r142
  v177 r120
  v178 r158
  v179 r62
  v180 r21
  v181 r11
  v182 r82
 )
 (:init
  (at r182 v0)
  (at r153 v1)
  (at r138 v2)
  (at r77 v3)
  (at r117 v4)
  (at r40 v5)
  (at r136 v6)
  (at r131 v7)
  (at r49 v8)
  (at r165 v9)
  (at r67 v10)
  (at r54 v11)
  (at r15 v12)
  (at r73 v13)
  (at r156 v14)
  (at r145 v15)
  (at r103 v16)
  (at r152 v17)
  (at r173 v18)
  (at r38 v19)
  (at r56 v20)
  (at r55 v21)
  (at r154 v22)
  (at r144 v23)
  (at r97 v24)
  (at r171 v25)
  (at r50 v26)
  (at r17 v27)
  (at r12 v28)
  (at r63 v29)
  (at r155 v30)
  (at r147 v31)
  (at r104 v32)
  (at r180 v33)
  (at r178 v34)
  (at r80 v35)
  (at r112 v36)
  (at r94 v37)
  (at r25 v38)
  (at r10 v39)
  (at r175 v40)
  (at r48 v41)
  (at r89 v42)
  (at r164 v43)
  (at r20 v44)
  (at r172 v45)
  (at r140 v46)
  (at r29 v47)
  (at r121 v48)
  (at r43 v49)
  (at r66 v50)
  (at r181 v51)
  (at r2 v52)
  (at r105 v53)
  (at r23 v54)
  (at r93 v55)
  (at r13 v56)
  (at r114 v57)
  (at r96 v58)
  (at r109 v59)
  (at r111 v60)
  (at r87 v61)
  (at r26 v62)
  (at r174 v63)
  (at r151 v64)
  (at r30 v65)
  (at r33 v66)
  (at r59 v67)
  (at r110 v68)
  (at r42 v69)
  (at r101 v70)
  (at r19 v71)
  (at r159 v72)
  (at r150 v73)
  (at r53 v74)
  (at r161 v75)
  (at r3 v76)
  (at r127 v77)
  (at r134 v78)
  (at r86 v79)
  (at r58 v80)
  (at r92 v81)
  (at r64 v82)
  (at r78 v83)
  (at r41 v84)
  (at r84 v85)
  (at r24 v86)
  (at r143 v87)
  (at r83 v88)
  (at r170 v89)
  (at r139 v90)
  (at r169 v91)
  (at r65 v92)
  (at r108 v93)
  (at r166 v94)
  (at r149 v95)
  (at r70 v96)
  (at r90 v97)
  (at r179 v98)
  (at r125 v99)
  (at r124 v100)
  (at r31 v101)
  (at r102 v102)
  (at r69 v103)
  (at r32 v104)
  (at r39 v105)
  (at r167 v106)
  (at r163 v107)
  (at r88 v108)
  (at r98 v109)
  (at r99 v110)
  (at r132 v111)
  (at r130 v112)
  (at r6 v113)
  (at r47 v114)
  (at r76 v115)
  (at r57 v116)
  (at r107 v117)
  (at r35 v118)
  (at r7 v119)
  (at r157 v120)
  (at r22 v121)
  (at r115 v122)
  (at r129 v123)
  (at r8 v124)
  (at r45 v125)
  (at r168 v126)
  (at r46 v127)
  (at r16 v128)
  (at r4 v129)
  (at r74 v130)
  (at r176 v131)
  (at r160 v132)
  (at r44 v133)
  (at r79 v134)
  (at r81 v135)
  (at r91 v136)
  (at r128 v137)
  (at r95 v138)
  (at r36 v139)
  (at r34 v140)
  (at r51 v141)
  (at r100 v142)
  (at r61 v143)
  (at r122 v144)
  (at r5 v145)
  (at r162 v146)
  (at r141 v147)
  (at r37 v148)
  (free v149)
  (at r14 v150)
  (at r18 v151)
  (at r113 v152)
  (at r148 v153)
  (at r72 v154)
  (at r135 v155)
  (at r133 v156)
  (at r28 v157)
  (at r137 v158)
  (free v159)
  (at r68 v160)
  (at r9 v161)
  (at r27 v162)
  (at r116 v163)
  (at r119 v164)
  (at r146 v165)
  (at r118 v166)
  (at r60 v167)
  (at r123 v168)
  (at r106 v169)
  (at r177 v170)
  (at r75 v171)
  (at r71 v172)
  (at r126 v173)
  (at r52 v174)
  (at r85 v175)
  (at r142 v176)
  (at r120 v177)
  (at r158 v178)
  (at r62 v179)
  (at r21 v180)
  (at r11 v181)
  (at r82 v182)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v17)
  (adjacent v0 v37)
  (adjacent v0 v81)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v123)
  (adjacent v4 v34)
  (adjacent v4 v38)
  (adjacent v5 v6)
  (adjacent v5 v48)
  (adjacent v6 v7)
  (adjacent v6 v33)
  (adjacent v6 v41)
  (adjacent v6 v54)
  (adjacent v6 v134)
  (adjacent v7 v8)
  (adjacent v7 v22)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v170)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v33)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v128)
  (adjacent v15 v16)
  (adjacent v15 v112)
  (adjacent v16 v17)
  (adjacent v16 v18)
  (adjacent v16 v29)
  (adjacent v16 v53)
  (adjacent v17 v58)
  (adjacent v17 v136)
  (adjacent v18 v19)
  (adjacent v18 v141)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v20 v32)
  (adjacent v20 v111)
  (adjacent v20 v124)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v22 v47)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v58)
  (adjacent v24 v114)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v119)
  (adjacent v29 v65)
  (adjacent v30 v31)
  (adjacent v30 v56)
  (adjacent v31 v32)
  (adjacent v31 v87)
  (adjacent v31 v98)
  (adjacent v32 v93)
  (adjacent v34 v35)
  (adjacent v34 v57)
  (adjacent v35 v36)
  (adjacent v35 v46)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v38 v109)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v59)
  (adjacent v42 v43)
  (adjacent v42 v57)
  (adjacent v42 v142)
  (adjacent v43 v44)
  (adjacent v43 v70)
  (adjacent v43 v133)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v118)
  (adjacent v47 v67)
  (adjacent v48 v49)
  (adjacent v48 v82)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v88)
  (adjacent v52 v53)
  (adjacent v52 v143)
  (adjacent v53 v66)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v119)
  (adjacent v56 v75)
  (adjacent v56 v132)
  (adjacent v58 v71)
  (adjacent v59 v60)
  (adjacent v59 v68)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v94)
  (adjacent v67 v142)
  (adjacent v68 v69)
  (adjacent v68 v76)
  (adjacent v69 v70)
  (adjacent v69 v164)
  (adjacent v70 v101)
  (adjacent v71 v72)
  (adjacent v71 v149)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v170)
  (adjacent v74 v75)
  (adjacent v74 v152)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v173)
  (adjacent v79 v80)
  (adjacent v79 v108)
  (adjacent v79 v155)
  (adjacent v80 v81)
  (adjacent v81 v156)
  (adjacent v82 v83)
  (adjacent v82 v163)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v100)
  (adjacent v85 v129)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v144)
  (adjacent v89 v90)
  (adjacent v89 v99)
  (adjacent v89 v174)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v107)
  (adjacent v93 v108)
  (adjacent v94 v95)
  (adjacent v94 v163)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v99 v130)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v131)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v139)
  (adjacent v107 v153)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v113)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v171)
  (adjacent v116 v117)
  (adjacent v116 v169)
  (adjacent v117 v118)
  (adjacent v117 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v135)
  (adjacent v124 v125)
  (adjacent v124 v140)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v150)
  (adjacent v129 v130)
  (adjacent v129 v145)
  (adjacent v131 v132)
  (adjacent v132 v135)
  (adjacent v133 v134)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v162)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v182)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v166 v181)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v180)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
 )
 (:goal
  (and
  (at r14 v0)
  (at r147 v1)
  (at r104 v2)
  (at r123 v3)
  (at r24 v4)
  (at r87 v5)
  (at r114 v6)
  (at r101 v7)
  (at r130 v8)
  (at r26 v9)
  (at r39 v10)
  (at r19 v11)
  (at r119 v12)
  (at r60 v13)
  (at r91 v14)
  (at r68 v15)
  (at r75 v16)
  (at r3 v17)
  (at r164 v18)
  (at r167 v19)
  (at r136 v20)
  (at r13 v21)
  (at r126 v22)
  (at r9 v23)
  (at r117 v24)
  (at r82 v25)
  (at r102 v26)
  (at r35 v27)
  (at r173 v28)
  (at r153 v29)
  (at r159 v30)
  (at r158 v31)
  (at r149 v32)
  (at r33 v33)
  (at r27 v34)
  (at r99 v35)
  (at r95 v36)
  (at r118 v37)
  (at r89 v38)
  (at r40 v39)
  (at r166 v40)
  (at r111 v41)
  (at r106 v42)
  (at r10 v43)
  (at r49 v44)
  (at r2 v45)
  (at r125 v46)
  (at r44 v47)
  (at r181 v48)
  (at r142 v49)
  (at r22 v50)
  (at r182 v51)
  (at r121 v52)
  (at r178 v53)
  (at r133 v54)
  (at r57 v55)
  (at r45 v56)
  (at r78 v57)
  (at r74 v58)
  (at r11 v59)
  (at r18 v60)
  (at r112 v61)
  (at r162 v62)
  (at r97 v63)
  (at r21 v64)
  (at r8 v65)
  (at r58 v66)
  (at r67 v67)
  (at r76 v68)
  (at r63 v69)
  (at r41 v70)
  (at r150 v71)
  (at r34 v72)
  (at r145 v73)
  (at r137 v74)
  (at r108 v75)
  (free v76)
  (at r129 v77)
  (at r134 v78)
  (at r146 v79)
  (at r84 v80)
  (at r37 v81)
  (at r31 v82)
  (at r88 v83)
  (at r65 v84)
  (at r92 v85)
  (at r122 v86)
  (at r116 v87)
  (at r124 v88)
  (at r141 v89)
  (at r148 v90)
  (at r151 v91)
  (at r72 v92)
  (at r50 v93)
  (at r23 v94)
  (at r176 v95)
  (at r77 v96)
  (at r16 v97)
  (at r163 v98)
  (at r64 v99)
  (free v100)
  (at r168 v101)
  (at r46 v102)
  (at r28 v103)
  (at r70 v104)
  (at r7 v105)
  (at r47 v106)
  (at r135 v107)
  (at r175 v108)
  (at r69 v109)
  (at r5 v110)
  (at r140 v111)
  (at r174 v112)
  (at r172 v113)
  (at r66 v114)
  (at r177 v115)
  (at r51 v116)
  (at r165 v117)
  (at r15 v118)
  (at r53 v119)
  (at r20 v120)
  (at r17 v121)
  (at r103 v122)
  (at r4 v123)
  (at r54 v124)
  (at r100 v125)
  (at r85 v126)
  (at r180 v127)
  (at r127 v128)
  (at r98 v129)
  (at r29 v130)
  (at r30 v131)
  (at r160 v132)
  (at r155 v133)
  (at r83 v134)
  (at r128 v135)
  (at r86 v136)
  (at r25 v137)
  (at r154 v138)
  (at r81 v139)
  (at r62 v140)
  (at r113 v141)
  (at r6 v142)
  (at r107 v143)
  (at r43 v144)
  (at r56 v145)
  (at r171 v146)
  (at r55 v147)
  (at r120 v148)
  (at r36 v149)
  (at r71 v150)
  (at r48 v151)
  (at r93 v152)
  (at r179 v153)
  (at r73 v154)
  (at r90 v155)
  (at r169 v156)
  (at r52 v157)
  (at r80 v158)
  (at r79 v159)
  (at r157 v160)
  (at r161 v161)
  (at r115 v162)
  (at r38 v163)
  (at r61 v164)
  (at r94 v165)
  (at r156 v166)
  (at r144 v167)
  (at r109 v168)
  (at r32 v169)
  (at r170 v170)
  (at r110 v171)
  (at r42 v172)
  (at r96 v173)
  (at r132 v174)
  (at r12 v175)
  (at r59 v176)
  (at r105 v177)
  (at r143 v178)
  (at r138 v179)
  (at r139 v180)
  (at r152 v181)
  (at r131 v182)
  )
 )
)