(define (problem multirobot_51_2_c9)
 (:domain multirobot)
 (:objects
  v0 r100
  v1 r176
  v2
  v3 r17
  v4 r69
  v5 r73
  v6 r48
  v7 r138
  v8 r8
  v9 r184
  v10 r38
  v11 r182
  v12 r85
  v13 r6
  v14 r167
  v15 r131
  v16 r37
  v17 r110
  v18 r72
  v19 r62
  v20 r187
  v21 r143
  v22 r175
  v23 r185
  v24 r154
  v25 r139
  v26 r164
  v27 r112
  v28 r179
  v29 r76
  v30 r67
  v31 r181
  v32 r2
  v33 r28
  v34 r91
  v35 r105
  v36 r108
  v37 r10
  v38 r4
  v39 r168
  v40 r124
  v41 r94
  v42 r33
  v43 r55
  v44 r90
  v45 r109
  v46 r23
  v47 r40
  v48
  v49 r148
  v50 r71
  v51 r136
  v52 r126
  v53 r147
  v54 r46
  v55 r65
  v56 r183
  v57 r26
  v58 r160
  v59 r97
  v60 r172
  v61 r186
  v62 r122
  v63 r102
  v64 r166
  v65 r18
  v66 r61
  v67 r157
  v68 r133
  v69 r77
  v70 r47
  v71 r86
  v72 r117
  v73 r137
  v74 r111
  v75 r104
  v76 r87
  v77 r180
  v78 r116
  v79 r92
  v80 r128
  v81 r159
  v82 r132
  v83 r22
  v84 r15
  v85 r103
  v86 r161
  v87 r24
  v88 r140
  v89 r75
  v90 r25
  v91 r42
  v92 r74
  v93 r16
  v94 r20
  v95 r30
  v96 r89
  v97 r49
  v98 r88
  v99 r59
  v100 r13
  v101 r153
  v102 r29
  v103 r95
  v104 r51
  v105 r144
  v106 r129
  v107 r52
  v108 r152
  v109 r7
  v110 r163
  v111 r27
  v112 r171
  v113 r149
  v114 r101
  v115 r21
  v116 r107
  v117 r79
  v118 r177
  v119 r106
  v120 r64
  v121 r63
  v122 r130
  v123 r5
  v124 r32
  v125 r190
  v126 r162
  v127 r35
  v128 r178
  v129 r155
  v130 r99
  v131 r39
  v132 r54
  v133 r189
  v134 r36
  v135 r9
  v136 r121
  v137 r53
  v138 r44
  v139 r141
  v140 r114
  v141 r118
  v142 r60
  v143 r146
  v144 r66
  v145 r135
  v146 r173
  v147 r58
  v148 r174
  v149 r50
  v150 r165
  v151 r81
  v152 r56
  v153 r98
  v154 r80
  v155 r142
  v156 r82
  v157 r96
  v158 r41
  v159 r14
  v160 r125
  v161 r78
  v162 r158
  v163 r169
  v164 r151
  v165 r127
  v166 r34
  v167 r19
  v168 r123
  v169 r120
  v170 r3
  v171 r11
  v172 r119
  v173 r113
  v174 r70
  v175 r134
  v176 r115
  v177 r57
  v178 r170
  v179 r150
  v180 r68
  v181 r188
  v182 r43
  v183 r145
  v184 r156
  v185 r31
  v186 r83
  v187 r93
  v188 r12
  v189 r84
  v190 r45
 )
 (:init
  (at r100 v0)
  (at r176 v1)
  (free v2)
  (at r17 v3)
  (at r69 v4)
  (at r73 v5)
  (at r48 v6)
  (at r138 v7)
  (at r8 v8)
  (at r184 v9)
  (at r38 v10)
  (at r182 v11)
  (at r85 v12)
  (at r6 v13)
  (at r167 v14)
  (at r131 v15)
  (at r37 v16)
  (at r110 v17)
  (at r72 v18)
  (at r62 v19)
  (at r187 v20)
  (at r143 v21)
  (at r175 v22)
  (at r185 v23)
  (at r154 v24)
  (at r139 v25)
  (at r164 v26)
  (at r112 v27)
  (at r179 v28)
  (at r76 v29)
  (at r67 v30)
  (at r181 v31)
  (at r2 v32)
  (at r28 v33)
  (at r91 v34)
  (at r105 v35)
  (at r108 v36)
  (at r10 v37)
  (at r4 v38)
  (at r168 v39)
  (at r124 v40)
  (at r94 v41)
  (at r33 v42)
  (at r55 v43)
  (at r90 v44)
  (at r109 v45)
  (at r23 v46)
  (at r40 v47)
  (free v48)
  (at r148 v49)
  (at r71 v50)
  (at r136 v51)
  (at r126 v52)
  (at r147 v53)
  (at r46 v54)
  (at r65 v55)
  (at r183 v56)
  (at r26 v57)
  (at r160 v58)
  (at r97 v59)
  (at r172 v60)
  (at r186 v61)
  (at r122 v62)
  (at r102 v63)
  (at r166 v64)
  (at r18 v65)
  (at r61 v66)
  (at r157 v67)
  (at r133 v68)
  (at r77 v69)
  (at r47 v70)
  (at r86 v71)
  (at r117 v72)
  (at r137 v73)
  (at r111 v74)
  (at r104 v75)
  (at r87 v76)
  (at r180 v77)
  (at r116 v78)
  (at r92 v79)
  (at r128 v80)
  (at r159 v81)
  (at r132 v82)
  (at r22 v83)
  (at r15 v84)
  (at r103 v85)
  (at r161 v86)
  (at r24 v87)
  (at r140 v88)
  (at r75 v89)
  (at r25 v90)
  (at r42 v91)
  (at r74 v92)
  (at r16 v93)
  (at r20 v94)
  (at r30 v95)
  (at r89 v96)
  (at r49 v97)
  (at r88 v98)
  (at r59 v99)
  (at r13 v100)
  (at r153 v101)
  (at r29 v102)
  (at r95 v103)
  (at r51 v104)
  (at r144 v105)
  (at r129 v106)
  (at r52 v107)
  (at r152 v108)
  (at r7 v109)
  (at r163 v110)
  (at r27 v111)
  (at r171 v112)
  (at r149 v113)
  (at r101 v114)
  (at r21 v115)
  (at r107 v116)
  (at r79 v117)
  (at r177 v118)
  (at r106 v119)
  (at r64 v120)
  (at r63 v121)
  (at r130 v122)
  (at r5 v123)
  (at r32 v124)
  (at r190 v125)
  (at r162 v126)
  (at r35 v127)
  (at r178 v128)
  (at r155 v129)
  (at r99 v130)
  (at r39 v131)
  (at r54 v132)
  (at r189 v133)
  (at r36 v134)
  (at r9 v135)
  (at r121 v136)
  (at r53 v137)
  (at r44 v138)
  (at r141 v139)
  (at r114 v140)
  (at r118 v141)
  (at r60 v142)
  (at r146 v143)
  (at r66 v144)
  (at r135 v145)
  (at r173 v146)
  (at r58 v147)
  (at r174 v148)
  (at r50 v149)
  (at r165 v150)
  (at r81 v151)
  (at r56 v152)
  (at r98 v153)
  (at r80 v154)
  (at r142 v155)
  (at r82 v156)
  (at r96 v157)
  (at r41 v158)
  (at r14 v159)
  (at r125 v160)
  (at r78 v161)
  (at r158 v162)
  (at r169 v163)
  (at r151 v164)
  (at r127 v165)
  (at r34 v166)
  (at r19 v167)
  (at r123 v168)
  (at r120 v169)
  (at r3 v170)
  (at r11 v171)
  (at r119 v172)
  (at r113 v173)
  (at r70 v174)
  (at r134 v175)
  (at r115 v176)
  (at r57 v177)
  (at r170 v178)
  (at r150 v179)
  (at r68 v180)
  (at r188 v181)
  (at r43 v182)
  (at r145 v183)
  (at r156 v184)
  (at r31 v185)
  (at r83 v186)
  (at r93 v187)
  (at r12 v188)
  (at r84 v189)
  (at r45 v190)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v42)
  (adjacent v1 v2)
  (adjacent v1 v47)
  (adjacent v1 v119)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v7)
  (adjacent v2 v153)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v4 v43)
  (adjacent v4 v133)
  (adjacent v5 v9)
  (adjacent v5 v36)
  (adjacent v5 v153)
  (adjacent v5 v162)
  (adjacent v7 v8)
  (adjacent v7 v16)
  (adjacent v7 v26)
  (adjacent v7 v67)
  (adjacent v7 v84)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v8 v97)
  (adjacent v9 v17)
  (adjacent v9 v85)
  (adjacent v9 v178)
  (adjacent v10 v11)
  (adjacent v10 v32)
  (adjacent v10 v86)
  (adjacent v10 v183)
  (adjacent v11 v12)
  (adjacent v11 v181)
  (adjacent v12 v13)
  (adjacent v12 v25)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v96)
  (adjacent v14 v15)
  (adjacent v14 v48)
  (adjacent v14 v155)
  (adjacent v15 v16)
  (adjacent v15 v57)
  (adjacent v15 v66)
  (adjacent v16 v18)
  (adjacent v16 v165)
  (adjacent v17 v18)
  (adjacent v17 v35)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v76)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v104)
  (adjacent v24 v25)
  (adjacent v25 v59)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v180)
  (adjacent v28 v29)
  (adjacent v28 v75)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v148)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v35 v50)
  (adjacent v35 v58)
  (adjacent v35 v155)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v74)
  (adjacent v37 v83)
  (adjacent v37 v133)
  (adjacent v37 v166)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v104)
  (adjacent v41 v112)
  (adjacent v41 v184)
  (adjacent v42 v125)
  (adjacent v43 v44)
  (adjacent v43 v73)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v91)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v81)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v60)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v92)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v111)
  (adjacent v58 v173)
  (adjacent v60 v61)
  (adjacent v60 v87)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v136)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v143)
  (adjacent v65 v182)
  (adjacent v67 v68)
  (adjacent v67 v102)
  (adjacent v68 v69)
  (adjacent v68 v118)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v80)
  (adjacent v72 v73)
  (adjacent v73 v154)
  (adjacent v74 v75)
  (adjacent v75 v103)
  (adjacent v76 v77)
  (adjacent v76 v167)
  (adjacent v77 v78)
  (adjacent v77 v154)
  (adjacent v78 v79)
  (adjacent v78 v84)
  (adjacent v78 v144)
  (adjacent v78 v149)
  (adjacent v79 v80)
  (adjacent v79 v140)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v103)
  (adjacent v84 v126)
  (adjacent v85 v86)
  (adjacent v86 v132)
  (adjacent v86 v163)
  (adjacent v86 v167)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v166)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v134)
  (adjacent v95 v96)
  (adjacent v96 v168)
  (adjacent v96 v190)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v105)
  (adjacent v99 v135)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v141)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v122)
  (adjacent v107 v108)
  (adjacent v107 v181)
  (adjacent v108 v109)
  (adjacent v108 v123)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v164)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v163)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v177)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v156)
  (adjacent v137 v183)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v141 v152)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v159 v174)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v164 v165)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v182)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r17 v0)
  (at r145 v1)
  (at r161 v2)
  (at r84 v3)
  (at r35 v4)
  (at r7 v5)
  (at r75 v6)
  (at r157 v7)
  (at r142 v8)
  (at r121 v9)
  (at r114 v10)
  (at r37 v11)
  (at r148 v12)
  (at r105 v13)
  (at r51 v14)
  (at r159 v15)
  (at r61 v16)
  (at r183 v17)
  (at r56 v18)
  (at r63 v19)
  (at r128 v20)
  (at r89 v21)
  (at r88 v22)
  (at r52 v23)
  (at r10 v24)
  (at r8 v25)
  (at r32 v26)
  (free v27)
  (at r44 v28)
  (at r72 v29)
  (at r113 v30)
  (at r5 v31)
  (at r147 v32)
  (at r117 v33)
  (at r19 v34)
  (at r55 v35)
  (at r127 v36)
  (at r98 v37)
  (at r86 v38)
  (at r156 v39)
  (at r123 v40)
  (at r160 v41)
  (at r124 v42)
  (at r176 v43)
  (at r41 v44)
  (at r174 v45)
  (at r181 v46)
  (at r102 v47)
  (at r129 v48)
  (at r15 v49)
  (at r28 v50)
  (at r26 v51)
  (at r49 v52)
  (at r42 v53)
  (at r169 v54)
  (at r67 v55)
  (at r151 v56)
  (at r3 v57)
  (at r69 v58)
  (at r13 v59)
  (at r12 v60)
  (at r132 v61)
  (at r134 v62)
  (at r141 v63)
  (at r2 v64)
  (at r140 v65)
  (at r66 v66)
  (at r70 v67)
  (at r163 v68)
  (at r179 v69)
  (at r158 v70)
  (at r33 v71)
  (at r38 v72)
  (at r184 v73)
  (at r115 v74)
  (at r109 v75)
  (at r150 v76)
  (at r154 v77)
  (at r146 v78)
  (at r153 v79)
  (at r25 v80)
  (at r155 v81)
  (at r50 v82)
  (at r180 v83)
  (at r6 v84)
  (at r106 v85)
  (at r57 v86)
  (at r120 v87)
  (at r23 v88)
  (at r164 v89)
  (at r62 v90)
  (at r178 v91)
  (at r119 v92)
  (at r21 v93)
  (at r30 v94)
  (at r85 v95)
  (at r92 v96)
  (at r118 v97)
  (at r29 v98)
  (at r162 v99)
  (at r187 v100)
  (at r65 v101)
  (at r130 v102)
  (at r58 v103)
  (at r4 v104)
  (at r139 v105)
  (at r149 v106)
  (at r112 v107)
  (at r9 v108)
  (free v109)
  (at r170 v110)
  (at r64 v111)
  (at r97 v112)
  (at r71 v113)
  (at r143 v114)
  (at r99 v115)
  (at r83 v116)
  (at r186 v117)
  (at r47 v118)
  (at r36 v119)
  (at r103 v120)
  (at r46 v121)
  (at r81 v122)
  (at r90 v123)
  (at r122 v124)
  (at r136 v125)
  (at r20 v126)
  (at r182 v127)
  (at r111 v128)
  (at r80 v129)
  (at r73 v130)
  (at r11 v131)
  (at r39 v132)
  (at r48 v133)
  (at r95 v134)
  (at r189 v135)
  (at r188 v136)
  (at r77 v137)
  (at r60 v138)
  (at r87 v139)
  (at r131 v140)
  (at r175 v141)
  (at r43 v142)
  (at r165 v143)
  (at r177 v144)
  (at r34 v145)
  (at r82 v146)
  (at r40 v147)
  (at r101 v148)
  (at r110 v149)
  (at r45 v150)
  (at r59 v151)
  (at r116 v152)
  (at r100 v153)
  (at r133 v154)
  (at r144 v155)
  (at r190 v156)
  (at r16 v157)
  (at r173 v158)
  (at r167 v159)
  (at r171 v160)
  (at r68 v161)
  (at r168 v162)
  (at r76 v163)
  (at r54 v164)
  (at r137 v165)
  (at r93 v166)
  (at r108 v167)
  (at r126 v168)
  (at r94 v169)
  (at r22 v170)
  (at r107 v171)
  (at r27 v172)
  (at r53 v173)
  (at r14 v174)
  (at r172 v175)
  (at r31 v176)
  (at r104 v177)
  (at r135 v178)
  (at r91 v179)
  (at r96 v180)
  (at r18 v181)
  (at r152 v182)
  (at r24 v183)
  (at r185 v184)
  (at r125 v185)
  (at r78 v186)
  (at r166 v187)
  (at r138 v188)
  (at r79 v189)
  (at r74 v190)
  )
 )
)