(define (problem multirobot_51_2_c4)
 (:domain multirobot)
 (:objects
  v0 r8
  v1 r138
  v2 r166
  v3 r182
  v4 r42
  v5 r178
  v6 r192
  v7 r156
  v8 r76
  v9 r161
  v10 r172
  v11 r54
  v12 r63
  v13 r132
  v14 r154
  v15 r111
  v16 r155
  v17 r115
  v18 r123
  v19 r36
  v20 r146
  v21 r55
  v22 r68
  v23 r41
  v24 r119
  v25 r25
  v26 r73
  v27 r53
  v28 r60
  v29 r24
  v30 r30
  v31 r136
  v32 r176
  v33 r144
  v34 r116
  v35 r106
  v36 r142
  v37 r124
  v38 r112
  v39 r86
  v40 r143
  v41 r56
  v42 r35
  v43 r14
  v44 r62
  v45 r10
  v46 r150
  v47 r179
  v48 r168
  v49 r44
  v50 r51
  v51 r152
  v52 r190
  v53 r126
  v54 r94
  v55 r83
  v56 r101
  v57 r186
  v58 r74
  v59
  v60 r16
  v61 r99
  v62 r180
  v63 r97
  v64 r170
  v65 r95
  v66 r61
  v67 r23
  v68 r50
  v69 r88
  v70 r87
  v71 r158
  v72 r114
  v73 r28
  v74 r103
  v75 r184
  v76 r174
  v77 r189
  v78 r17
  v79 r100
  v80 r91
  v81 r120
  v82 r37
  v83 r96
  v84 r3
  v85 r31
  v86 r104
  v87 r108
  v88 r57
  v89 r33
  v90 r137
  v91 r79
  v92 r39
  v93 r85
  v94 r71
  v95 r81
  v96 r169
  v97 r5
  v98 r183
  v99 r151
  v100 r107
  v101 r181
  v102 r157
  v103 r117
  v104 r125
  v105 r131
  v106 r11
  v107 r163
  v108 r72
  v109 r77
  v110 r67
  v111 r32
  v112 r134
  v113 r69
  v114 r65
  v115 r141
  v116 r45
  v117 r34
  v118 r22
  v119 r21
  v120 r173
  v121 r130
  v122 r19
  v123 r47
  v124 r145
  v125 r113
  v126 r46
  v127 r64
  v128 r52
  v129 r160
  v130 r167
  v131 r187
  v132 r122
  v133 r38
  v134 r147
  v135 r129
  v136 r84
  v137 r153
  v138
  v139 r75
  v140 r139
  v141 r164
  v142 r20
  v143 r92
  v144 r29
  v145 r18
  v146 r49
  v147 r193
  v148 r12
  v149 r191
  v150 r140
  v151 r127
  v152 r175
  v153 r6
  v154 r4
  v155 r148
  v156 r90
  v157 r128
  v158 r162
  v159 r89
  v160 r58
  v161 r159
  v162 r105
  v163 r82
  v164 r27
  v165 r149
  v166 r59
  v167 r121
  v168 r177
  v169 r102
  v170 r7
  v171 r135
  v172 r70
  v173 r165
  v174 r185
  v175 r78
  v176 r93
  v177 r98
  v178 r80
  v179 r66
  v180 r40
  v181 r9
  v182 r15
  v183 r133
  v184 r188
  v185 r171
  v186 r48
  v187 r109
  v188 r43
  v189 r118
  v190 r26
  v191 r13
  v192 r2
  v193 r110
 )
 (:init
  (at r8 v0)
  (at r138 v1)
  (at r166 v2)
  (at r182 v3)
  (at r42 v4)
  (at r178 v5)
  (at r192 v6)
  (at r156 v7)
  (at r76 v8)
  (at r161 v9)
  (at r172 v10)
  (at r54 v11)
  (at r63 v12)
  (at r132 v13)
  (at r154 v14)
  (at r111 v15)
  (at r155 v16)
  (at r115 v17)
  (at r123 v18)
  (at r36 v19)
  (at r146 v20)
  (at r55 v21)
  (at r68 v22)
  (at r41 v23)
  (at r119 v24)
  (at r25 v25)
  (at r73 v26)
  (at r53 v27)
  (at r60 v28)
  (at r24 v29)
  (at r30 v30)
  (at r136 v31)
  (at r176 v32)
  (at r144 v33)
  (at r116 v34)
  (at r106 v35)
  (at r142 v36)
  (at r124 v37)
  (at r112 v38)
  (at r86 v39)
  (at r143 v40)
  (at r56 v41)
  (at r35 v42)
  (at r14 v43)
  (at r62 v44)
  (at r10 v45)
  (at r150 v46)
  (at r179 v47)
  (at r168 v48)
  (at r44 v49)
  (at r51 v50)
  (at r152 v51)
  (at r190 v52)
  (at r126 v53)
  (at r94 v54)
  (at r83 v55)
  (at r101 v56)
  (at r186 v57)
  (at r74 v58)
  (free v59)
  (at r16 v60)
  (at r99 v61)
  (at r180 v62)
  (at r97 v63)
  (at r170 v64)
  (at r95 v65)
  (at r61 v66)
  (at r23 v67)
  (at r50 v68)
  (at r88 v69)
  (at r87 v70)
  (at r158 v71)
  (at r114 v72)
  (at r28 v73)
  (at r103 v74)
  (at r184 v75)
  (at r174 v76)
  (at r189 v77)
  (at r17 v78)
  (at r100 v79)
  (at r91 v80)
  (at r120 v81)
  (at r37 v82)
  (at r96 v83)
  (at r3 v84)
  (at r31 v85)
  (at r104 v86)
  (at r108 v87)
  (at r57 v88)
  (at r33 v89)
  (at r137 v90)
  (at r79 v91)
  (at r39 v92)
  (at r85 v93)
  (at r71 v94)
  (at r81 v95)
  (at r169 v96)
  (at r5 v97)
  (at r183 v98)
  (at r151 v99)
  (at r107 v100)
  (at r181 v101)
  (at r157 v102)
  (at r117 v103)
  (at r125 v104)
  (at r131 v105)
  (at r11 v106)
  (at r163 v107)
  (at r72 v108)
  (at r77 v109)
  (at r67 v110)
  (at r32 v111)
  (at r134 v112)
  (at r69 v113)
  (at r65 v114)
  (at r141 v115)
  (at r45 v116)
  (at r34 v117)
  (at r22 v118)
  (at r21 v119)
  (at r173 v120)
  (at r130 v121)
  (at r19 v122)
  (at r47 v123)
  (at r145 v124)
  (at r113 v125)
  (at r46 v126)
  (at r64 v127)
  (at r52 v128)
  (at r160 v129)
  (at r167 v130)
  (at r187 v131)
  (at r122 v132)
  (at r38 v133)
  (at r147 v134)
  (at r129 v135)
  (at r84 v136)
  (at r153 v137)
  (free v138)
  (at r75 v139)
  (at r139 v140)
  (at r164 v141)
  (at r20 v142)
  (at r92 v143)
  (at r29 v144)
  (at r18 v145)
  (at r49 v146)
  (at r193 v147)
  (at r12 v148)
  (at r191 v149)
  (at r140 v150)
  (at r127 v151)
  (at r175 v152)
  (at r6 v153)
  (at r4 v154)
  (at r148 v155)
  (at r90 v156)
  (at r128 v157)
  (at r162 v158)
  (at r89 v159)
  (at r58 v160)
  (at r159 v161)
  (at r105 v162)
  (at r82 v163)
  (at r27 v164)
  (at r149 v165)
  (at r59 v166)
  (at r121 v167)
  (at r177 v168)
  (at r102 v169)
  (at r7 v170)
  (at r135 v171)
  (at r70 v172)
  (at r165 v173)
  (at r185 v174)
  (at r78 v175)
  (at r93 v176)
  (at r98 v177)
  (at r80 v178)
  (at r66 v179)
  (at r40 v180)
  (at r9 v181)
  (at r15 v182)
  (at r133 v183)
  (at r188 v184)
  (at r171 v185)
  (at r48 v186)
  (at r109 v187)
  (at r43 v188)
  (at r118 v189)
  (at r26 v190)
  (at r13 v191)
  (at r2 v192)
  (at r110 v193)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v46)
  (adjacent v0 v47)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v70)
  (adjacent v1 v164)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v66)
  (adjacent v2 v142)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v12)
  (adjacent v4 v7)
  (adjacent v4 v19)
  (adjacent v4 v24)
  (adjacent v4 v77)
  (adjacent v5 v6)
  (adjacent v5 v36)
  (adjacent v5 v100)
  (adjacent v6 v7)
  (adjacent v7 v25)
  (adjacent v7 v33)
  (adjacent v7 v121)
  (adjacent v8 v9)
  (adjacent v8 v30)
  (adjacent v9 v10)
  (adjacent v9 v86)
  (adjacent v9 v123)
  (adjacent v10 v11)
  (adjacent v10 v29)
  (adjacent v10 v51)
  (adjacent v11 v12)
  (adjacent v13 v14)
  (adjacent v13 v76)
  (adjacent v13 v113)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v45)
  (adjacent v15 v56)
  (adjacent v15 v61)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v16 v34)
  (adjacent v16 v35)
  (adjacent v17 v18)
  (adjacent v17 v44)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v20 v97)
  (adjacent v21 v22)
  (adjacent v21 v67)
  (adjacent v22 v23)
  (adjacent v22 v140)
  (adjacent v23 v24)
  (adjacent v24 v150)
  (adjacent v25 v26)
  (adjacent v25 v43)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v103)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v85)
  (adjacent v28 v178)
  (adjacent v29 v35)
  (adjacent v29 v71)
  (adjacent v29 v131)
  (adjacent v30 v31)
  (adjacent v30 v151)
  (adjacent v31 v32)
  (adjacent v31 v42)
  (adjacent v31 v52)
  (adjacent v31 v62)
  (adjacent v32 v57)
  (adjacent v32 v68)
  (adjacent v32 v112)
  (adjacent v33 v34)
  (adjacent v33 v52)
  (adjacent v33 v162)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v170)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v53)
  (adjacent v42 v87)
  (adjacent v42 v91)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v45 v88)
  (adjacent v45 v108)
  (adjacent v45 v141)
  (adjacent v46 v95)
  (adjacent v46 v96)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v83)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v122)
  (adjacent v58 v59)
  (adjacent v58 v130)
  (adjacent v59 v60)
  (adjacent v59 v67)
  (adjacent v60 v61)
  (adjacent v60 v165)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v141)
  (adjacent v64 v65)
  (adjacent v64 v96)
  (adjacent v65 v66)
  (adjacent v66 v154)
  (adjacent v67 v177)
  (adjacent v68 v69)
  (adjacent v68 v142)
  (adjacent v69 v70)
  (adjacent v69 v107)
  (adjacent v69 v114)
  (adjacent v69 v188)
  (adjacent v70 v82)
  (adjacent v70 v136)
  (adjacent v71 v72)
  (adjacent v71 v128)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v127)
  (adjacent v76 v87)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v90)
  (adjacent v80 v81)
  (adjacent v80 v184)
  (adjacent v81 v82)
  (adjacent v82 v86)
  (adjacent v83 v84)
  (adjacent v83 v102)
  (adjacent v83 v125)
  (adjacent v84 v85)
  (adjacent v86 v115)
  (adjacent v87 v101)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v91 v124)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v187)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v155)
  (adjacent v113 v114)
  (adjacent v113 v161)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v172)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v124)
  (adjacent v124 v143)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v137)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v143)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v144)
  (adjacent v142 v173)
  (adjacent v144 v145)
  (adjacent v144 v169)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v153 v183)
  (adjacent v155 v156)
  (adjacent v155 v193)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v190 v191)
  (adjacent v191 v192)
  (adjacent v192 v193)
 )
 (:goal
  (and
  (at r183 v0)
  (at r34 v1)
  (at r23 v2)
  (free v3)
  (at r25 v4)
  (at r128 v5)
  (at r165 v6)
  (at r110 v7)
  (at r143 v8)
  (at r154 v9)
  (at r41 v10)
  (at r55 v11)
  (at r180 v12)
  (at r87 v13)
  (at r144 v14)
  (at r142 v15)
  (at r148 v16)
  (at r130 v17)
  (at r85 v18)
  (at r68 v19)
  (at r45 v20)
  (at r114 v21)
  (at r31 v22)
  (at r161 v23)
  (at r2 v24)
  (at r8 v25)
  (at r188 v26)
  (at r150 v27)
  (at r37 v28)
  (at r178 v29)
  (at r13 v30)
  (at r162 v31)
  (at r174 v32)
  (at r157 v33)
  (at r4 v34)
  (at r131 v35)
  (at r156 v36)
  (at r166 v37)
  (at r106 v38)
  (at r79 v39)
  (at r72 v40)
  (at r93 v41)
  (at r155 v42)
  (at r192 v43)
  (at r95 v44)
  (at r63 v45)
  (at r98 v46)
  (at r67 v47)
  (at r132 v48)
  (at r135 v49)
  (at r50 v50)
  (at r107 v51)
  (at r145 v52)
  (at r186 v53)
  (at r191 v54)
  (at r170 v55)
  (at r88 v56)
  (at r80 v57)
  (at r133 v58)
  (at r64 v59)
  (at r36 v60)
  (at r193 v61)
  (at r146 v62)
  (at r100 v63)
  (at r181 v64)
  (at r152 v65)
  (at r177 v66)
  (at r171 v67)
  (at r19 v68)
  (at r66 v69)
  (at r47 v70)
  (at r61 v71)
  (at r169 v72)
  (at r136 v73)
  (at r123 v74)
  (at r105 v75)
  (at r149 v76)
  (at r176 v77)
  (at r138 v78)
  (at r38 v79)
  (at r70 v80)
  (at r65 v81)
  (at r89 v82)
  (at r27 v83)
  (at r122 v84)
  (at r92 v85)
  (at r111 v86)
  (at r109 v87)
  (at r104 v88)
  (at r141 v89)
  (at r91 v90)
  (at r124 v91)
  (at r167 v92)
  (at r28 v93)
  (at r62 v94)
  (at r26 v95)
  (at r44 v96)
  (at r160 v97)
  (at r153 v98)
  (at r125 v99)
  (at r82 v100)
  (at r59 v101)
  (at r15 v102)
  (at r22 v103)
  (at r24 v104)
  (at r97 v105)
  (at r11 v106)
  (at r108 v107)
  (at r73 v108)
  (at r168 v109)
  (at r29 v110)
  (at r151 v111)
  (at r99 v112)
  (at r159 v113)
  (at r190 v114)
  (at r179 v115)
  (at r32 v116)
  (at r35 v117)
  (at r7 v118)
  (at r5 v119)
  (at r18 v120)
  (at r51 v121)
  (at r117 v122)
  (at r10 v123)
  (at r58 v124)
  (at r86 v125)
  (at r16 v126)
  (at r12 v127)
  (at r129 v128)
  (at r69 v129)
  (at r60 v130)
  (at r43 v131)
  (free v132)
  (at r158 v133)
  (at r71 v134)
  (at r30 v135)
  (at r9 v136)
  (at r112 v137)
  (at r121 v138)
  (at r57 v139)
  (at r175 v140)
  (at r118 v141)
  (at r126 v142)
  (at r116 v143)
  (at r139 v144)
  (at r20 v145)
  (at r96 v146)
  (at r115 v147)
  (at r163 v148)
  (at r81 v149)
  (at r140 v150)
  (at r53 v151)
  (at r182 v152)
  (at r6 v153)
  (at r83 v154)
  (at r137 v155)
  (at r90 v156)
  (at r46 v157)
  (at r42 v158)
  (at r184 v159)
  (at r102 v160)
  (at r94 v161)
  (at r77 v162)
  (at r74 v163)
  (at r40 v164)
  (at r75 v165)
  (at r21 v166)
  (at r17 v167)
  (at r172 v168)
  (at r134 v169)
  (at r164 v170)
  (at r147 v171)
  (at r56 v172)
  (at r33 v173)
  (at r54 v174)
  (at r76 v175)
  (at r3 v176)
  (at r173 v177)
  (at r185 v178)
  (at r120 v179)
  (at r103 v180)
  (at r48 v181)
  (at r113 v182)
  (at r101 v183)
  (at r78 v184)
  (at r52 v185)
  (at r49 v186)
  (at r14 v187)
  (at r127 v188)
  (at r187 v189)
  (at r84 v190)
  (at r189 v191)
  (at r119 v192)
  (at r39 v193)
  )
 )
)