(define (problem multirobot_50_2_c9)
 (:domain multirobot)
 (:objects
  v0 r99
  v1 r155
  v2 r52
  v3 r20
  v4 r114
  v5 r76
  v6 r27
  v7 r127
  v8 r83
  v9 r51
  v10 r50
  v11 r44
  v12 r54
  v13 r71
  v14 r59
  v15 r58
  v16 r80
  v17 r121
  v18 r145
  v19 r118
  v20 r45
  v21 r135
  v22 r159
  v23 r153
  v24 r74
  v25 r125
  v26 r67
  v27 r133
  v28 r73
  v29 r156
  v30 r75
  v31 r10
  v32 r66
  v33 r140
  v34 r82
  v35 r2
  v36 r28
  v37 r151
  v38 r86
  v39 r120
  v40 r119
  v41 r16
  v42 r23
  v43 r97
  v44 r21
  v45 r85
  v46 r152
  v47 r33
  v48 r57
  v49 r103
  v50 r132
  v51 r68
  v52 r90
  v53 r63
  v54 r60
  v55 r116
  v56 r92
  v57 r94
  v58 r144
  v59 r29
  v60 r30
  v61 r7
  v62 r5
  v63 r81
  v64 r18
  v65 r111
  v66 r167
  v67 r24
  v68 r53
  v69 r169
  v70 r122
  v71 r25
  v72 r95
  v73 r8
  v74 r84
  v75 r107
  v76 r56
  v77 r101
  v78 r130
  v79 r89
  v80 r38
  v81 r39
  v82 r129
  v83 r171
  v84 r148
  v85 r34
  v86 r43
  v87 r37
  v88 r163
  v89 r146
  v90 r128
  v91 r31
  v92 r170
  v93
  v94 r4
  v95 r172
  v96 r136
  v97 r108
  v98 r40
  v99 r19
  v100 r62
  v101 r22
  v102 r100
  v103 r162
  v104 r106
  v105 r12
  v106 r11
  v107 r157
  v108 r139
  v109 r138
  v110 r26
  v111 r36
  v112 r47
  v113 r150
  v114 r168
  v115 r165
  v116 r65
  v117 r131
  v118 r42
  v119 r93
  v120 r109
  v121 r104
  v122 r123
  v123 r3
  v124 r164
  v125 r142
  v126 r137
  v127 r70
  v128 r79
  v129 r69
  v130 r48
  v131 r64
  v132 r110
  v133 r77
  v134 r55
  v135 r13
  v136 r115
  v137 r126
  v138 r41
  v139 r72
  v140 r105
  v141 r61
  v142 r113
  v143 r166
  v144 r117
  v145 r134
  v146 r112
  v147 r124
  v148 r6
  v149 r78
  v150
  v151 r96
  v152 r98
  v153 r9
  v154 r87
  v155 r147
  v156 r154
  v157 r143
  v158 r15
  v159 r160
  v160 r14
  v161 r17
  v162 r102
  v163 r149
  v164 r35
  v165 r88
  v166 r161
  v167 r158
  v168 r49
  v169 r141
  v170 r46
  v171 r32
  v172 r91
 )
 (:init
  (at r99 v0)
  (at r155 v1)
  (at r52 v2)
  (at r20 v3)
  (at r114 v4)
  (at r76 v5)
  (at r27 v6)
  (at r127 v7)
  (at r83 v8)
  (at r51 v9)
  (at r50 v10)
  (at r44 v11)
  (at r54 v12)
  (at r71 v13)
  (at r59 v14)
  (at r58 v15)
  (at r80 v16)
  (at r121 v17)
  (at r145 v18)
  (at r118 v19)
  (at r45 v20)
  (at r135 v21)
  (at r159 v22)
  (at r153 v23)
  (at r74 v24)
  (at r125 v25)
  (at r67 v26)
  (at r133 v27)
  (at r73 v28)
  (at r156 v29)
  (at r75 v30)
  (at r10 v31)
  (at r66 v32)
  (at r140 v33)
  (at r82 v34)
  (at r2 v35)
  (at r28 v36)
  (at r151 v37)
  (at r86 v38)
  (at r120 v39)
  (at r119 v40)
  (at r16 v41)
  (at r23 v42)
  (at r97 v43)
  (at r21 v44)
  (at r85 v45)
  (at r152 v46)
  (at r33 v47)
  (at r57 v48)
  (at r103 v49)
  (at r132 v50)
  (at r68 v51)
  (at r90 v52)
  (at r63 v53)
  (at r60 v54)
  (at r116 v55)
  (at r92 v56)
  (at r94 v57)
  (at r144 v58)
  (at r29 v59)
  (at r30 v60)
  (at r7 v61)
  (at r5 v62)
  (at r81 v63)
  (at r18 v64)
  (at r111 v65)
  (at r167 v66)
  (at r24 v67)
  (at r53 v68)
  (at r169 v69)
  (at r122 v70)
  (at r25 v71)
  (at r95 v72)
  (at r8 v73)
  (at r84 v74)
  (at r107 v75)
  (at r56 v76)
  (at r101 v77)
  (at r130 v78)
  (at r89 v79)
  (at r38 v80)
  (at r39 v81)
  (at r129 v82)
  (at r171 v83)
  (at r148 v84)
  (at r34 v85)
  (at r43 v86)
  (at r37 v87)
  (at r163 v88)
  (at r146 v89)
  (at r128 v90)
  (at r31 v91)
  (at r170 v92)
  (free v93)
  (at r4 v94)
  (at r172 v95)
  (at r136 v96)
  (at r108 v97)
  (at r40 v98)
  (at r19 v99)
  (at r62 v100)
  (at r22 v101)
  (at r100 v102)
  (at r162 v103)
  (at r106 v104)
  (at r12 v105)
  (at r11 v106)
  (at r157 v107)
  (at r139 v108)
  (at r138 v109)
  (at r26 v110)
  (at r36 v111)
  (at r47 v112)
  (at r150 v113)
  (at r168 v114)
  (at r165 v115)
  (at r65 v116)
  (at r131 v117)
  (at r42 v118)
  (at r93 v119)
  (at r109 v120)
  (at r104 v121)
  (at r123 v122)
  (at r3 v123)
  (at r164 v124)
  (at r142 v125)
  (at r137 v126)
  (at r70 v127)
  (at r79 v128)
  (at r69 v129)
  (at r48 v130)
  (at r64 v131)
  (at r110 v132)
  (at r77 v133)
  (at r55 v134)
  (at r13 v135)
  (at r115 v136)
  (at r126 v137)
  (at r41 v138)
  (at r72 v139)
  (at r105 v140)
  (at r61 v141)
  (at r113 v142)
  (at r166 v143)
  (at r117 v144)
  (at r134 v145)
  (at r112 v146)
  (at r124 v147)
  (at r6 v148)
  (at r78 v149)
  (free v150)
  (at r96 v151)
  (at r98 v152)
  (at r9 v153)
  (at r87 v154)
  (at r147 v155)
  (at r154 v156)
  (at r143 v157)
  (at r15 v158)
  (at r160 v159)
  (at r14 v160)
  (at r17 v161)
  (at r102 v162)
  (at r149 v163)
  (at r35 v164)
  (at r88 v165)
  (at r161 v166)
  (at r158 v167)
  (at r49 v168)
  (at r141 v169)
  (at r46 v170)
  (at r32 v171)
  (at r91 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v0 v53)
  (adjacent v0 v80)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v16)
  (adjacent v1 v121)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v7)
  (adjacent v2 v12)
  (adjacent v2 v74)
  (adjacent v2 v76)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v142)
  (adjacent v4 v7)
  (adjacent v4 v29)
  (adjacent v4 v34)
  (adjacent v4 v154)
  (adjacent v5 v6)
  (adjacent v5 v24)
  (adjacent v5 v160)
  (adjacent v7 v13)
  (adjacent v8 v9)
  (adjacent v8 v35)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v11 v142)
  (adjacent v13 v15)
  (adjacent v13 v129)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v76)
  (adjacent v15 v19)
  (adjacent v15 v30)
  (adjacent v15 v138)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v82)
  (adjacent v18 v23)
  (adjacent v18 v41)
  (adjacent v18 v51)
  (adjacent v18 v93)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v42)
  (adjacent v23 v37)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v46)
  (adjacent v26 v27)
  (adjacent v26 v65)
  (adjacent v26 v66)
  (adjacent v26 v151)
  (adjacent v26 v157)
  (adjacent v27 v28)
  (adjacent v27 v60)
  (adjacent v27 v97)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v28 v53)
  (adjacent v28 v153)
  (adjacent v30 v31)
  (adjacent v30 v52)
  (adjacent v30 v137)
  (adjacent v30 v163)
  (adjacent v31 v32)
  (adjacent v31 v47)
  (adjacent v32 v33)
  (adjacent v32 v86)
  (adjacent v33 v34)
  (adjacent v33 v59)
  (adjacent v33 v112)
  (adjacent v33 v140)
  (adjacent v34 v104)
  (adjacent v35 v36)
  (adjacent v36 v75)
  (adjacent v37 v38)
  (adjacent v37 v67)
  (adjacent v38 v39)
  (adjacent v38 v73)
  (adjacent v38 v131)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v42 v68)
  (adjacent v42 v169)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v52)
  (adjacent v45 v139)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v54)
  (adjacent v50 v130)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v83)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v105)
  (adjacent v60 v61)
  (adjacent v60 v143)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v79)
  (adjacent v64 v65)
  (adjacent v65 v128)
  (adjacent v65 v139)
  (adjacent v66 v67)
  (adjacent v67 v106)
  (adjacent v68 v69)
  (adjacent v68 v113)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v98)
  (adjacent v80 v81)
  (adjacent v80 v87)
  (adjacent v81 v82)
  (adjacent v82 v94)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v105)
  (adjacent v90 v91)
  (adjacent v90 v141)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v138)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v147)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v117)
  (adjacent v103 v130)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v118)
  (adjacent v110 v152)
  (adjacent v110 v161)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v113 v158)
  (adjacent v114 v115)
  (adjacent v114 v155)
  (adjacent v115 v116)
  (adjacent v115 v122)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v118 v129)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v146)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v131 v132)
  (adjacent v131 v154)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v140 v141)
  (adjacent v142 v168)
  (adjacent v142 v172)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v155 v156)
  (adjacent v155 v162)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r91 v0)
  (at r170 v1)
  (at r12 v2)
  (at r116 v3)
  (at r142 v4)
  (at r115 v5)
  (at r147 v6)
  (at r36 v7)
  (at r8 v8)
  (at r146 v9)
  (at r107 v10)
  (at r19 v11)
  (at r132 v12)
  (at r134 v13)
  (at r152 v14)
  (at r92 v15)
  (at r15 v16)
  (at r14 v17)
  (at r59 v18)
  (at r62 v19)
  (at r169 v20)
  (at r89 v21)
  (at r67 v22)
  (at r69 v23)
  (at r40 v24)
  (at r10 v25)
  (at r156 v26)
  (at r131 v27)
  (at r82 v28)
  (at r68 v29)
  (at r133 v30)
  (at r56 v31)
  (at r158 v32)
  (at r143 v33)
  (at r24 v34)
  (at r163 v35)
  (at r123 v36)
  (at r155 v37)
  (at r137 v38)
  (at r7 v39)
  (at r3 v40)
  (at r122 v41)
  (at r118 v42)
  (at r111 v43)
  (at r63 v44)
  (at r73 v45)
  (at r53 v46)
  (at r127 v47)
  (at r160 v48)
  (at r151 v49)
  (at r140 v50)
  (at r108 v51)
  (at r27 v52)
  (at r161 v53)
  (at r139 v54)
  (at r101 v55)
  (free v56)
  (at r167 v57)
  (at r25 v58)
  (at r159 v59)
  (at r18 v60)
  (at r13 v61)
  (at r38 v62)
  (at r66 v63)
  (at r44 v64)
  (at r150 v65)
  (at r94 v66)
  (at r117 v67)
  (at r29 v68)
  (at r41 v69)
  (at r106 v70)
  (at r77 v71)
  (at r129 v72)
  (at r110 v73)
  (at r148 v74)
  (at r144 v75)
  (at r2 v76)
  (at r154 v77)
  (at r46 v78)
  (at r76 v79)
  (at r75 v80)
  (at r37 v81)
  (at r125 v82)
  (at r100 v83)
  (at r54 v84)
  (at r98 v85)
  (at r34 v86)
  (at r124 v87)
  (at r21 v88)
  (at r74 v89)
  (at r85 v90)
  (at r95 v91)
  (at r172 v92)
  (at r168 v93)
  (at r79 v94)
  (at r61 v95)
  (at r121 v96)
  (at r114 v97)
  (at r71 v98)
  (at r39 v99)
  (at r157 v100)
  (at r28 v101)
  (at r31 v102)
  (free v103)
  (at r87 v104)
  (at r162 v105)
  (at r149 v106)
  (at r52 v107)
  (at r35 v108)
  (at r51 v109)
  (at r26 v110)
  (at r70 v111)
  (at r50 v112)
  (at r90 v113)
  (at r126 v114)
  (at r30 v115)
  (at r103 v116)
  (at r83 v117)
  (at r135 v118)
  (at r141 v119)
  (at r109 v120)
  (at r136 v121)
  (at r47 v122)
  (at r65 v123)
  (at r81 v124)
  (at r64 v125)
  (at r119 v126)
  (at r58 v127)
  (at r11 v128)
  (at r166 v129)
  (at r165 v130)
  (at r84 v131)
  (at r138 v132)
  (at r32 v133)
  (at r16 v134)
  (at r128 v135)
  (at r99 v136)
  (at r113 v137)
  (at r88 v138)
  (at r130 v139)
  (at r48 v140)
  (at r55 v141)
  (at r20 v142)
  (at r49 v143)
  (at r6 v144)
  (at r104 v145)
  (at r102 v146)
  (at r112 v147)
  (at r45 v148)
  (at r96 v149)
  (at r93 v150)
  (at r57 v151)
  (at r86 v152)
  (at r42 v153)
  (at r145 v154)
  (at r4 v155)
  (at r164 v156)
  (at r17 v157)
  (at r120 v158)
  (at r33 v159)
  (at r105 v160)
  (at r80 v161)
  (at r171 v162)
  (at r97 v163)
  (at r9 v164)
  (at r43 v165)
  (at r23 v166)
  (at r78 v167)
  (at r72 v168)
  (at r5 v169)
  (at r153 v170)
  (at r22 v171)
  (at r60 v172)
  )
 )
)