(define (problem multirobot_49_2_c5)
 (:domain multirobot)
 (:objects
  v0 r148
  v1 r121
  v2 r115
  v3 r93
  v4 r126
  v5 r5
  v6 r156
  v7 r146
  v8 r16
  v9 r161
  v10 r26
  v11 r18
  v12 r64
  v13 r137
  v14 r4
  v15 r106
  v16 r67
  v17 r50
  v18 r140
  v19 r166
  v20 r170
  v21 r77
  v22 r42
  v23 r87
  v24 r109
  v25 r72
  v26 r158
  v27 r7
  v28 r78
  v29 r107
  v30 r118
  v31 r29
  v32 r139
  v33 r169
  v34 r111
  v35 r90
  v36 r108
  v37 r3
  v38 r32
  v39 r153
  v40 r47
  v41 r91
  v42 r2
  v43 r81
  v44 r20
  v45 r162
  v46 r94
  v47 r11
  v48 r8
  v49 r104
  v50 r114
  v51 r60
  v52 r61
  v53 r113
  v54 r68
  v55 r85
  v56 r125
  v57 r56
  v58 r164
  v59 r160
  v60 r31
  v61 r76
  v62 r48
  v63 r45
  v64 r165
  v65 r12
  v66 r75
  v67 r36
  v68 r100
  v69 r135
  v70 r96
  v71 r149
  v72 r41
  v73 r53
  v74 r66
  v75 r132
  v76 r51
  v77 r101
  v78 r57
  v79 r30
  v80 r122
  v81 r73
  v82 r147
  v83 r13
  v84 r37
  v85 r138
  v86 r24
  v87 r110
  v88 r133
  v89 r65
  v90 r43
  v91 r83
  v92 r89
  v93 r136
  v94 r44
  v95 r82
  v96 r150
  v97 r28
  v98 r151
  v99 r17
  v100 r14
  v101 r103
  v102 r6
  v103 r9
  v104 r63
  v105 r167
  v106 r74
  v107 r112
  v108 r40
  v109 r102
  v110 r10
  v111 r152
  v112 r95
  v113 r79
  v114 r59
  v115 r38
  v116 r21
  v117 r39
  v118 r80
  v119 r22
  v120 r172
  v121 r127
  v122 r117
  v123 r163
  v124 r23
  v125 r98
  v126 r54
  v127 r155
  v128 r129
  v129 r168
  v130 r55
  v131 r15
  v132 r58
  v133 r157
  v134 r119
  v135 r69
  v136 r124
  v137 r131
  v138 r134
  v139 r105
  v140 r120
  v141 r25
  v142 r171
  v143 r27
  v144 r128
  v145
  v146 r49
  v147 r97
  v148 r70
  v149 r19
  v150 r116
  v151 r141
  v152 r88
  v153 r173
  v154 r35
  v155 r33
  v156 r52
  v157 r142
  v158 r159
  v159 r130
  v160 r123
  v161 r144
  v162 r62
  v163 r145
  v164 r92
  v165 r71
  v166 r143
  v167 r86
  v168 r34
  v169 r84
  v170 r154
  v171 r46
  v172 r99
  v173
 )
 (:init
  (at r148 v0)
  (at r121 v1)
  (at r115 v2)
  (at r93 v3)
  (at r126 v4)
  (at r5 v5)
  (at r156 v6)
  (at r146 v7)
  (at r16 v8)
  (at r161 v9)
  (at r26 v10)
  (at r18 v11)
  (at r64 v12)
  (at r137 v13)
  (at r4 v14)
  (at r106 v15)
  (at r67 v16)
  (at r50 v17)
  (at r140 v18)
  (at r166 v19)
  (at r170 v20)
  (at r77 v21)
  (at r42 v22)
  (at r87 v23)
  (at r109 v24)
  (at r72 v25)
  (at r158 v26)
  (at r7 v27)
  (at r78 v28)
  (at r107 v29)
  (at r118 v30)
  (at r29 v31)
  (at r139 v32)
  (at r169 v33)
  (at r111 v34)
  (at r90 v35)
  (at r108 v36)
  (at r3 v37)
  (at r32 v38)
  (at r153 v39)
  (at r47 v40)
  (at r91 v41)
  (at r2 v42)
  (at r81 v43)
  (at r20 v44)
  (at r162 v45)
  (at r94 v46)
  (at r11 v47)
  (at r8 v48)
  (at r104 v49)
  (at r114 v50)
  (at r60 v51)
  (at r61 v52)
  (at r113 v53)
  (at r68 v54)
  (at r85 v55)
  (at r125 v56)
  (at r56 v57)
  (at r164 v58)
  (at r160 v59)
  (at r31 v60)
  (at r76 v61)
  (at r48 v62)
  (at r45 v63)
  (at r165 v64)
  (at r12 v65)
  (at r75 v66)
  (at r36 v67)
  (at r100 v68)
  (at r135 v69)
  (at r96 v70)
  (at r149 v71)
  (at r41 v72)
  (at r53 v73)
  (at r66 v74)
  (at r132 v75)
  (at r51 v76)
  (at r101 v77)
  (at r57 v78)
  (at r30 v79)
  (at r122 v80)
  (at r73 v81)
  (at r147 v82)
  (at r13 v83)
  (at r37 v84)
  (at r138 v85)
  (at r24 v86)
  (at r110 v87)
  (at r133 v88)
  (at r65 v89)
  (at r43 v90)
  (at r83 v91)
  (at r89 v92)
  (at r136 v93)
  (at r44 v94)
  (at r82 v95)
  (at r150 v96)
  (at r28 v97)
  (at r151 v98)
  (at r17 v99)
  (at r14 v100)
  (at r103 v101)
  (at r6 v102)
  (at r9 v103)
  (at r63 v104)
  (at r167 v105)
  (at r74 v106)
  (at r112 v107)
  (at r40 v108)
  (at r102 v109)
  (at r10 v110)
  (at r152 v111)
  (at r95 v112)
  (at r79 v113)
  (at r59 v114)
  (at r38 v115)
  (at r21 v116)
  (at r39 v117)
  (at r80 v118)
  (at r22 v119)
  (at r172 v120)
  (at r127 v121)
  (at r117 v122)
  (at r163 v123)
  (at r23 v124)
  (at r98 v125)
  (at r54 v126)
  (at r155 v127)
  (at r129 v128)
  (at r168 v129)
  (at r55 v130)
  (at r15 v131)
  (at r58 v132)
  (at r157 v133)
  (at r119 v134)
  (at r69 v135)
  (at r124 v136)
  (at r131 v137)
  (at r134 v138)
  (at r105 v139)
  (at r120 v140)
  (at r25 v141)
  (at r171 v142)
  (at r27 v143)
  (at r128 v144)
  (free v145)
  (at r49 v146)
  (at r97 v147)
  (at r70 v148)
  (at r19 v149)
  (at r116 v150)
  (at r141 v151)
  (at r88 v152)
  (at r173 v153)
  (at r35 v154)
  (at r33 v155)
  (at r52 v156)
  (at r142 v157)
  (at r159 v158)
  (at r130 v159)
  (at r123 v160)
  (at r144 v161)
  (at r62 v162)
  (at r145 v163)
  (at r92 v164)
  (at r71 v165)
  (at r143 v166)
  (at r86 v167)
  (at r34 v168)
  (at r84 v169)
  (at r154 v170)
  (at r46 v171)
  (at r99 v172)
  (free v173)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v48)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v20)
  (adjacent v2 v46)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v13)
  (adjacent v3 v76)
  (adjacent v4 v5)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v85)
  (adjacent v7 v123)
  (adjacent v8 v35)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v65)
  (adjacent v10 v11)
  (adjacent v11 v14)
  (adjacent v11 v26)
  (adjacent v11 v86)
  (adjacent v12 v13)
  (adjacent v13 v21)
  (adjacent v13 v54)
  (adjacent v14 v15)
  (adjacent v14 v130)
  (adjacent v14 v154)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v62)
  (adjacent v16 v109)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v27)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v21 v39)
  (adjacent v21 v64)
  (adjacent v21 v131)
  (adjacent v21 v139)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v109)
  (adjacent v24 v25)
  (adjacent v24 v47)
  (adjacent v24 v173)
  (adjacent v25 v26)
  (adjacent v25 v33)
  (adjacent v27 v28)
  (adjacent v27 v92)
  (adjacent v27 v160)
  (adjacent v28 v29)
  (adjacent v28 v40)
  (adjacent v28 v91)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v72)
  (adjacent v29 v93)
  (adjacent v29 v159)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v122)
  (adjacent v32 v33)
  (adjacent v32 v83)
  (adjacent v33 v152)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v41)
  (adjacent v36 v140)
  (adjacent v36 v144)
  (adjacent v37 v38)
  (adjacent v37 v133)
  (adjacent v38 v39)
  (adjacent v38 v40)
  (adjacent v38 v61)
  (adjacent v38 v100)
  (adjacent v40 v80)
  (adjacent v41 v42)
  (adjacent v41 v153)
  (adjacent v41 v160)
  (adjacent v42 v43)
  (adjacent v42 v47)
  (adjacent v42 v96)
  (adjacent v42 v108)
  (adjacent v42 v110)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v65)
  (adjacent v47 v73)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v107)
  (adjacent v50 v51)
  (adjacent v50 v90)
  (adjacent v50 v118)
  (adjacent v51 v52)
  (adjacent v51 v99)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v55)
  (adjacent v53 v75)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v126)
  (adjacent v57 v58)
  (adjacent v57 v98)
  (adjacent v57 v108)
  (adjacent v57 v161)
  (adjacent v58 v59)
  (adjacent v58 v119)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v125)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v168)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v145)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v118)
  (adjacent v72 v117)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v126)
  (adjacent v75 v129)
  (adjacent v76 v77)
  (adjacent v76 v81)
  (adjacent v77 v78)
  (adjacent v77 v132)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v81 v84)
  (adjacent v82 v83)
  (adjacent v82 v169)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v101)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v91 v97)
  (adjacent v92 v155)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v99 v113)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v114)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v127)
  (adjacent v108 v130)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v168)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v146)
  (adjacent v120 v167)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v146)
  (adjacent v127 v128)
  (adjacent v127 v143)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v147)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (at r2 v0)
  (at r83 v1)
  (at r116 v2)
  (at r104 v3)
  (at r67 v4)
  (at r133 v5)
  (at r73 v6)
  (at r22 v7)
  (at r18 v8)
  (free v9)
  (at r19 v10)
  (at r162 v11)
  (at r163 v12)
  (at r159 v13)
  (at r49 v14)
  (at r60 v15)
  (at r141 v16)
  (at r38 v17)
  (at r111 v18)
  (at r57 v19)
  (at r85 v20)
  (at r97 v21)
  (at r64 v22)
  (at r59 v23)
  (at r118 v24)
  (at r129 v25)
  (at r30 v26)
  (at r128 v27)
  (at r21 v28)
  (at r32 v29)
  (at r82 v30)
  (at r108 v31)
  (at r113 v32)
  (at r55 v33)
  (at r71 v34)
  (at r25 v35)
  (at r139 v36)
  (at r123 v37)
  (at r107 v38)
  (at r4 v39)
  (at r46 v40)
  (at r40 v41)
  (at r135 v42)
  (at r134 v43)
  (at r103 v44)
  (at r98 v45)
  (at r8 v46)
  (at r54 v47)
  (at r12 v48)
  (at r136 v49)
  (at r47 v50)
  (at r148 v51)
  (at r26 v52)
  (at r156 v53)
  (at r95 v54)
  (at r169 v55)
  (at r151 v56)
  (at r153 v57)
  (at r9 v58)
  (at r86 v59)
  (at r164 v60)
  (at r170 v61)
  (at r120 v62)
  (at r115 v63)
  (at r39 v64)
  (at r132 v65)
  (at r87 v66)
  (at r154 v67)
  (at r27 v68)
  (at r72 v69)
  (at r74 v70)
  (at r130 v71)
  (at r84 v72)
  (at r166 v73)
  (at r10 v74)
  (at r167 v75)
  (at r122 v76)
  (at r79 v77)
  (at r66 v78)
  (at r106 v79)
  (at r110 v80)
  (at r168 v81)
  (at r29 v82)
  (at r150 v83)
  (at r53 v84)
  (at r80 v85)
  (at r69 v86)
  (at r91 v87)
  (at r124 v88)
  (at r137 v89)
  (at r81 v90)
  (at r3 v91)
  (at r152 v92)
  (at r76 v93)
  (at r33 v94)
  (at r158 v95)
  (at r105 v96)
  (at r125 v97)
  (at r161 v98)
  (at r127 v99)
  (at r92 v100)
  (at r160 v101)
  (at r77 v102)
  (at r7 v103)
  (at r173 v104)
  (at r56 v105)
  (at r102 v106)
  (at r90 v107)
  (at r28 v108)
  (at r145 v109)
  (at r68 v110)
  (at r131 v111)
  (at r138 v112)
  (at r100 v113)
  (at r101 v114)
  (at r14 v115)
  (at r89 v116)
  (at r75 v117)
  (at r99 v118)
  (at r42 v119)
  (at r16 v120)
  (at r11 v121)
  (at r172 v122)
  (at r6 v123)
  (at r142 v124)
  (at r20 v125)
  (at r149 v126)
  (at r62 v127)
  (at r78 v128)
  (at r34 v129)
  (at r58 v130)
  (at r117 v131)
  (at r157 v132)
  (at r143 v133)
  (at r41 v134)
  (at r119 v135)
  (at r96 v136)
  (at r36 v137)
  (free v138)
  (at r15 v139)
  (at r70 v140)
  (at r61 v141)
  (at r43 v142)
  (at r146 v143)
  (at r44 v144)
  (at r35 v145)
  (at r31 v146)
  (at r50 v147)
  (at r24 v148)
  (at r88 v149)
  (at r13 v150)
  (at r114 v151)
  (at r45 v152)
  (at r93 v153)
  (at r94 v154)
  (at r37 v155)
  (at r63 v156)
  (at r147 v157)
  (at r52 v158)
  (at r140 v159)
  (at r165 v160)
  (at r48 v161)
  (at r121 v162)
  (at r126 v163)
  (at r65 v164)
  (at r5 v165)
  (at r17 v166)
  (at r144 v167)
  (at r51 v168)
  (at r109 v169)
  (at r112 v170)
  (at r23 v171)
  (at r171 v172)
  (at r155 v173)
  )
 )
)