(define (problem multirobot_51_2_c3)
 (:domain multirobot)
 (:objects
  v0 r67
  v1 r103
  v2 r20
  v3 r10
  v4 r83
  v5 r134
  v6 r28
  v7 r172
  v8 r152
  v9 r93
  v10 r107
  v11 r22
  v12 r82
  v13 r12
  v14 r153
  v15 r135
  v16 r105
  v17 r17
  v18 r8
  v19 r104
  v20 r6
  v21 r21
  v22 r81
  v23 r119
  v24 r47
  v25 r61
  v26 r49
  v27 r26
  v28 r73
  v29 r171
  v30 r66
  v31 r182
  v32 r97
  v33 r148
  v34 r70
  v35 r62
  v36 r9
  v37 r99
  v38 r16
  v39 r125
  v40 r164
  v41 r79
  v42 r139
  v43 r54
  v44 r37
  v45 r96
  v46 r23
  v47 r32
  v48 r35
  v49 r169
  v50 r144
  v51 r108
  v52 r184
  v53 r111
  v54 r92
  v55 r60
  v56 r31
  v57 r179
  v58 r116
  v59 r2
  v60 r121
  v61 r149
  v62 r180
  v63 r85
  v64 r101
  v65 r50
  v66 r140
  v67 r113
  v68 r11
  v69 r95
  v70 r64
  v71 r173
  v72 r78
  v73 r178
  v74 r7
  v75 r71
  v76 r174
  v77 r157
  v78 r142
  v79 r34
  v80 r106
  v81 r89
  v82 r128
  v83 r45
  v84 r158
  v85 r183
  v86 r39
  v87 r165
  v88 r40
  v89 r46
  v90 r162
  v91 r76
  v92 r52
  v93 r127
  v94 r57
  v95 r161
  v96 r42
  v97 r150
  v98 r63
  v99 r36
  v100 r43
  v101 r141
  v102 r13
  v103 r41
  v104 r58
  v105 r3
  v106 r136
  v107 r131
  v108 r75
  v109 r160
  v110 r118
  v111 r124
  v112 r175
  v113 r138
  v114 r151
  v115 r154
  v116 r114
  v117
  v118 r167
  v119 r5
  v120 r88
  v121 r122
  v122 r155
  v123 r25
  v124 r68
  v125 r170
  v126 r176
  v127 r72
  v128 r168
  v129 r132
  v130 r33
  v131 r4
  v132 r90
  v133 r163
  v134 r133
  v135 r19
  v136 r18
  v137 r137
  v138 r14
  v139 r147
  v140 r56
  v141 r65
  v142 r115
  v143 r80
  v144 r24
  v145 r145
  v146 r159
  v147 r98
  v148 r126
  v149 r53
  v150 r15
  v151 r100
  v152 r74
  v153 r129
  v154 r143
  v155 r87
  v156 r69
  v157 r102
  v158 r123
  v159 r109
  v160 r27
  v161 r181
  v162 r110
  v163 r59
  v164 r156
  v165 r146
  v166 r77
  v167 r117
  v168 r94
  v169 r48
  v170 r51
  v171 r38
  v172 r130
  v173 r112
  v174
  v175 r29
  v176 r44
  v177 r86
  v178 r166
  v179 r30
  v180 r177
  v181 r84
  v182 r91
  v183 r120
  v184 r55
 )
 (:init
  (at r67 v0)
  (at r103 v1)
  (at r20 v2)
  (at r10 v3)
  (at r83 v4)
  (at r134 v5)
  (at r28 v6)
  (at r172 v7)
  (at r152 v8)
  (at r93 v9)
  (at r107 v10)
  (at r22 v11)
  (at r82 v12)
  (at r12 v13)
  (at r153 v14)
  (at r135 v15)
  (at r105 v16)
  (at r17 v17)
  (at r8 v18)
  (at r104 v19)
  (at r6 v20)
  (at r21 v21)
  (at r81 v22)
  (at r119 v23)
  (at r47 v24)
  (at r61 v25)
  (at r49 v26)
  (at r26 v27)
  (at r73 v28)
  (at r171 v29)
  (at r66 v30)
  (at r182 v31)
  (at r97 v32)
  (at r148 v33)
  (at r70 v34)
  (at r62 v35)
  (at r9 v36)
  (at r99 v37)
  (at r16 v38)
  (at r125 v39)
  (at r164 v40)
  (at r79 v41)
  (at r139 v42)
  (at r54 v43)
  (at r37 v44)
  (at r96 v45)
  (at r23 v46)
  (at r32 v47)
  (at r35 v48)
  (at r169 v49)
  (at r144 v50)
  (at r108 v51)
  (at r184 v52)
  (at r111 v53)
  (at r92 v54)
  (at r60 v55)
  (at r31 v56)
  (at r179 v57)
  (at r116 v58)
  (at r2 v59)
  (at r121 v60)
  (at r149 v61)
  (at r180 v62)
  (at r85 v63)
  (at r101 v64)
  (at r50 v65)
  (at r140 v66)
  (at r113 v67)
  (at r11 v68)
  (at r95 v69)
  (at r64 v70)
  (at r173 v71)
  (at r78 v72)
  (at r178 v73)
  (at r7 v74)
  (at r71 v75)
  (at r174 v76)
  (at r157 v77)
  (at r142 v78)
  (at r34 v79)
  (at r106 v80)
  (at r89 v81)
  (at r128 v82)
  (at r45 v83)
  (at r158 v84)
  (at r183 v85)
  (at r39 v86)
  (at r165 v87)
  (at r40 v88)
  (at r46 v89)
  (at r162 v90)
  (at r76 v91)
  (at r52 v92)
  (at r127 v93)
  (at r57 v94)
  (at r161 v95)
  (at r42 v96)
  (at r150 v97)
  (at r63 v98)
  (at r36 v99)
  (at r43 v100)
  (at r141 v101)
  (at r13 v102)
  (at r41 v103)
  (at r58 v104)
  (at r3 v105)
  (at r136 v106)
  (at r131 v107)
  (at r75 v108)
  (at r160 v109)
  (at r118 v110)
  (at r124 v111)
  (at r175 v112)
  (at r138 v113)
  (at r151 v114)
  (at r154 v115)
  (at r114 v116)
  (free v117)
  (at r167 v118)
  (at r5 v119)
  (at r88 v120)
  (at r122 v121)
  (at r155 v122)
  (at r25 v123)
  (at r68 v124)
  (at r170 v125)
  (at r176 v126)
  (at r72 v127)
  (at r168 v128)
  (at r132 v129)
  (at r33 v130)
  (at r4 v131)
  (at r90 v132)
  (at r163 v133)
  (at r133 v134)
  (at r19 v135)
  (at r18 v136)
  (at r137 v137)
  (at r14 v138)
  (at r147 v139)
  (at r56 v140)
  (at r65 v141)
  (at r115 v142)
  (at r80 v143)
  (at r24 v144)
  (at r145 v145)
  (at r159 v146)
  (at r98 v147)
  (at r126 v148)
  (at r53 v149)
  (at r15 v150)
  (at r100 v151)
  (at r74 v152)
  (at r129 v153)
  (at r143 v154)
  (at r87 v155)
  (at r69 v156)
  (at r102 v157)
  (at r123 v158)
  (at r109 v159)
  (at r27 v160)
  (at r181 v161)
  (at r110 v162)
  (at r59 v163)
  (at r156 v164)
  (at r146 v165)
  (at r77 v166)
  (at r117 v167)
  (at r94 v168)
  (at r48 v169)
  (at r51 v170)
  (at r38 v171)
  (at r130 v172)
  (at r112 v173)
  (free v174)
  (at r29 v175)
  (at r44 v176)
  (at r86 v177)
  (at r166 v178)
  (at r30 v179)
  (at r177 v180)
  (at r84 v181)
  (at r91 v182)
  (at r120 v183)
  (at r55 v184)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v57)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v18)
  (adjacent v3 v4)
  (adjacent v3 v59)
  (adjacent v4 v19)
  (adjacent v5 v6)
  (adjacent v5 v31)
  (adjacent v5 v41)
  (adjacent v5 v72)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v25)
  (adjacent v6 v171)
  (adjacent v7 v8)
  (adjacent v7 v92)
  (adjacent v8 v9)
  (adjacent v8 v47)
  (adjacent v8 v86)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v24)
  (adjacent v10 v125)
  (adjacent v11 v13)
  (adjacent v11 v131)
  (adjacent v12 v65)
  (adjacent v13 v14)
  (adjacent v13 v32)
  (adjacent v13 v58)
  (adjacent v13 v102)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v25)
  (adjacent v16 v17)
  (adjacent v16 v60)
  (adjacent v16 v119)
  (adjacent v17 v18)
  (adjacent v17 v39)
  (adjacent v17 v101)
  (adjacent v17 v178)
  (adjacent v18 v38)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v85)
  (adjacent v21 v90)
  (adjacent v21 v117)
  (adjacent v22 v23)
  (adjacent v22 v26)
  (adjacent v22 v99)
  (adjacent v22 v106)
  (adjacent v22 v121)
  (adjacent v23 v24)
  (adjacent v23 v81)
  (adjacent v25 v164)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v58)
  (adjacent v28 v29)
  (adjacent v28 v93)
  (adjacent v28 v177)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v48)
  (adjacent v30 v51)
  (adjacent v30 v61)
  (adjacent v31 v110)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v177)
  (adjacent v33 v184)
  (adjacent v34 v35)
  (adjacent v34 v109)
  (adjacent v35 v36)
  (adjacent v35 v57)
  (adjacent v35 v99)
  (adjacent v36 v37)
  (adjacent v36 v107)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v39 v118)
  (adjacent v40 v41)
  (adjacent v40 v42)
  (adjacent v40 v48)
  (adjacent v41 v71)
  (adjacent v42 v43)
  (adjacent v42 v91)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v49)
  (adjacent v46 v172)
  (adjacent v48 v56)
  (adjacent v48 v60)
  (adjacent v49 v50)
  (adjacent v49 v52)
  (adjacent v49 v64)
  (adjacent v50 v51)
  (adjacent v51 v59)
  (adjacent v52 v53)
  (adjacent v52 v76)
  (adjacent v53 v54)
  (adjacent v53 v130)
  (adjacent v54 v55)
  (adjacent v54 v80)
  (adjacent v54 v98)
  (adjacent v55 v56)
  (adjacent v56 v127)
  (adjacent v58 v120)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v139)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v72 v94)
  (adjacent v73 v74)
  (adjacent v73 v111)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v150)
  (adjacent v76 v77)
  (adjacent v76 v108)
  (adjacent v76 v140)
  (adjacent v76 v147)
  (adjacent v77 v78)
  (adjacent v77 v107)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v93)
  (adjacent v80 v120)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v100)
  (adjacent v84 v85)
  (adjacent v84 v126)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v176)
  (adjacent v90 v134)
  (adjacent v91 v92)
  (adjacent v92 v110)
  (adjacent v92 v151)
  (adjacent v93 v103)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v102)
  (adjacent v95 v125)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v169)
  (adjacent v108 v109)
  (adjacent v110 v124)
  (adjacent v111 v112)
  (adjacent v111 v163)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v126)
  (adjacent v115 v146)
  (adjacent v115 v156)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v133)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v134 v157)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v168)
  (adjacent v138 v183)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v184)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
 )
 (:goal
  (and
  (at r136 v0)
  (at r99 v1)
  (at r38 v2)
  (at r177 v3)
  (at r70 v4)
  (at r117 v5)
  (at r130 v6)
  (at r152 v7)
  (at r18 v8)
  (at r57 v9)
  (at r39 v10)
  (at r162 v11)
  (at r54 v12)
  (at r61 v13)
  (at r179 v14)
  (at r132 v15)
  (at r2 v16)
  (at r135 v17)
  (at r159 v18)
  (at r15 v19)
  (at r128 v20)
  (at r29 v21)
  (at r36 v22)
  (at r163 v23)
  (at r35 v24)
  (at r14 v25)
  (at r124 v26)
  (at r133 v27)
  (at r22 v28)
  (at r181 v29)
  (at r140 v30)
  (at r167 v31)
  (at r68 v32)
  (at r111 v33)
  (at r96 v34)
  (at r53 v35)
  (at r16 v36)
  (at r180 v37)
  (at r144 v38)
  (at r129 v39)
  (at r175 v40)
  (at r164 v41)
  (at r100 v42)
  (at r106 v43)
  (at r48 v44)
  (at r89 v45)
  (at r182 v46)
  (at r71 v47)
  (at r51 v48)
  (at r161 v49)
  (at r37 v50)
  (at r30 v51)
  (at r58 v52)
  (at r153 v53)
  (at r64 v54)
  (at r31 v55)
  (at r6 v56)
  (at r121 v57)
  (at r170 v58)
  (at r41 v59)
  (at r47 v60)
  (at r102 v61)
  (at r113 v62)
  (at r92 v63)
  (at r13 v64)
  (at r19 v65)
  (at r155 v66)
  (at r169 v67)
  (at r148 v68)
  (at r138 v69)
  (at r72 v70)
  (at r49 v71)
  (at r146 v72)
  (at r110 v73)
  (at r94 v74)
  (at r173 v75)
  (at r154 v76)
  (at r150 v77)
  (at r12 v78)
  (at r178 v79)
  (at r137 v80)
  (at r3 v81)
  (at r176 v82)
  (at r165 v83)
  (at r59 v84)
  (at r45 v85)
  (at r119 v86)
  (at r76 v87)
  (at r23 v88)
  (at r80 v89)
  (at r91 v90)
  (at r62 v91)
  (at r55 v92)
  (at r21 v93)
  (at r98 v94)
  (at r183 v95)
  (at r20 v96)
  (at r134 v97)
  (at r9 v98)
  (at r4 v99)
  (at r66 v100)
  (at r105 v101)
  (at r122 v102)
  (at r43 v103)
  (at r139 v104)
  (at r26 v105)
  (at r32 v106)
  (at r125 v107)
  (at r78 v108)
  (at r7 v109)
  (at r90 v110)
  (at r126 v111)
  (at r34 v112)
  (at r25 v113)
  (at r84 v114)
  (at r46 v115)
  (at r56 v116)
  (at r149 v117)
  (at r103 v118)
  (at r115 v119)
  (at r11 v120)
  (at r77 v121)
  (at r101 v122)
  (at r108 v123)
  (at r8 v124)
  (free v125)
  (at r82 v126)
  (at r127 v127)
  (at r63 v128)
  (at r28 v129)
  (at r93 v130)
  (at r166 v131)
  (at r17 v132)
  (at r147 v133)
  (at r151 v134)
  (at r168 v135)
  (at r123 v136)
  (at r172 v137)
  (at r131 v138)
  (at r67 v139)
  (at r156 v140)
  (at r184 v141)
  (free v142)
  (at r97 v143)
  (at r88 v144)
  (at r107 v145)
  (at r142 v146)
  (at r116 v147)
  (at r52 v148)
  (at r74 v149)
  (at r42 v150)
  (at r157 v151)
  (at r60 v152)
  (at r27 v153)
  (at r160 v154)
  (at r50 v155)
  (at r5 v156)
  (at r109 v157)
  (at r118 v158)
  (at r114 v159)
  (at r145 v160)
  (at r112 v161)
  (at r141 v162)
  (at r85 v163)
  (at r24 v164)
  (at r143 v165)
  (at r33 v166)
  (at r65 v167)
  (at r69 v168)
  (at r75 v169)
  (at r171 v170)
  (at r158 v171)
  (at r83 v172)
  (at r10 v173)
  (at r104 v174)
  (at r87 v175)
  (at r120 v176)
  (at r79 v177)
  (at r174 v178)
  (at r73 v179)
  (at r40 v180)
  (at r44 v181)
  (at r95 v182)
  (at r86 v183)
  (at r81 v184)
  )
 )
)