(define (problem multirobot_52_2_c4) (:domain multirobot) (:objects v0 r153 v1 r142 v2 r65 v3 r80 v4 r9 v5 r21 v6 r113 v7 v8 r33 v9 r5 v10 r96 v11 r90 v12 r157 v13 r50 v14 r182 v15 r85 v16 r73 v17 r103 v18 r145 v19 r99 v20 r163 v21 r143 v22 r13 v23 r138 v24 r124 v25 r7 v26 r149 v27 r46 v28 r181 v29 r148 v30 r47 v31 r155 v32 r87 v33 r118 v34 r127 v35 r29 v36 r105 v37 r6 v38 r173 v39 r3 v40 r168 v41 r135 v42 r27 v43 r39 v44 r55 v45 r42 v46 r71 v47 r100 v48 r194 v49 r107 v50 r101 v51 r189 v52 r16 v53 r36 v54 r43 v55 r25 v56 r74 v57 r109 v58 r180 v59 r37 v60 r196 v61 r160 v62 r98 v63 r79 v64 r154 v65 r19 v66 r20 v67 r130 v68 r146 v69 r133 v70 r193 v71 r106 v72 r166 v73 r56 v74 r125 v75 r195 v76 r114 v77 r51 v78 r191 v79 r171 v80 r178 v81 r165 v82 r177 v83 r97 v84 r120 v85 r197 v86 r161 v87 r126 v88 r185 v89 r129 v90 r41 v91 r24 v92 r17 v93 r15 v94 r140 v95 r23 v96 r187 v97 r77 v98 r137 v99 r91 v100 r108 v101 r64 v102 r68 v103 r112 v104 r40 v105 r152 v106 r86 v107 r122 v108 r2 v109 r184 v110 r159 v111 r93 v112 r162 v113 r83 v114 r132 v115 r61 v116 r30 v117 r67 v118 r14 v119 r48 v120 r172 v121 r45 v122 r123 v123 r34 v124 r76 v125 r54 v126 r59 v127 r174 v128 r31 v129 r186 v130 r95 v131 r128 v132 r89 v133 r75 v134 r102 v135 r183 v136 r53 v137 r35 v138 r170 v139 r60 v140 r11 v141 r188 v142 r169 v143 r115 v144 r10 v145 r58 v146 r78 v147 r141 v148 r131 v149 r144 v150 r121 v151 r26 v152 r110 v153 r164 v154 r82 v155 r81 v156 r84 v157 r150 v158 r176 v159 r62 v160 r117 v161 r22 v162 r104 v163 r167 v164 r190 v165 r151 v166 r57 v167 r158 v168 r92 v169 v170 r179 v171 r8 v172 r18 v173 r156 v174 r38 v175 r28 v176 r12 v177 r70 v178 r94 v179 r134 v180 r72 v181 r116 v182 r4 v183 r136 v184 r52 v185 r175 v186 r66 v187 r111 v188 r119 v189 r49 v190 r147 v191 r69 v192 r44 v193 r32 v194 r88 v195 r139 v196 r63 v197 r192 ) (:init (at r153 v0) (at r142 v1) (at r65 v2) (at r80 v3) (at r9 v4) (at r21 v5) (at r113 v6) (free v7) (at r33 v8) (at r5 v9) (at r96 v10) (at r90 v11) (at r157 v12) (at r50 v13) (at r182 v14) (at r85 v15) (at r73 v16) (at r103 v17) (at r145 v18) (at r99 v19) (at r163 v20) (at r143 v21) (at r13 v22) (at r138 v23) (at r124 v24) (at r7 v25) (at r149 v26) (at r46 v27) (at r181 v28) (at r148 v29) (at r47 v30) (at r155 v31) (at r87 v32) (at r118 v33) (at r127 v34) (at r29 v35) (at r105 v36) (at r6 v37) (at r173 v38) (at r3 v39) (at r168 v40) (at r135 v41) (at r27 v42) (at r39 v43) (at r55 v44) (at r42 v45) (at r71 v46) (at r100 v47) (at r194 v48) (at r107 v49) (at r101 v50) (at r189 v51) (at r16 v52) (at r36 v53) (at r43 v54) (at r25 v55) (at r74 v56) (at r109 v57) (at r180 v58) (at r37 v59) (at r196 v60) (at r160 v61) (at r98 v62) (at r79 v63) (at r154 v64) (at r19 v65) (at r20 v66) (at r130 v67) (at r146 v68) (at r133 v69) (at r193 v70) (at r106 v71) (at r166 v72) (at r56 v73) (at r125 v74) (at r195 v75) (at r114 v76) (at r51 v77) (at r191 v78) (at r171 v79) (at r178 v80) (at r165 v81) (at r177 v82) (at r97 v83) (at r120 v84) (at r197 v85) (at r161 v86) (at r126 v87) (at r185 v88) (at r129 v89) (at r41 v90) (at r24 v91) (at r17 v92) (at r15 v93) (at r140 v94) (at r23 v95) (at r187 v96) (at r77 v97) (at r137 v98) (at r91 v99) (at r108 v100) (at r64 v101) (at r68 v102) (at r112 v103) (at r40 v104) (at r152 v105) (at r86 v106) (at r122 v107) (at r2 v108) (at r184 v109) (at r159 v110) (at r93 v111) (at r162 v112) (at r83 v113) (at r132 v114) (at r61 v115) (at r30 v116) (at r67 v117) (at r14 v118) (at r48 v119) (at r172 v120) (at r45 v121) (at r123 v122) (at r34 v123) (at r76 v124) (at r54 v125) (at r59 v126) (at r174 v127) (at r31 v128) (at r186 v129) (at r95 v130) (at r128 v131) (at r89 v132) (at r75 v133) (at r102 v134) (at r183 v135) (at r53 v136) (at r35 v137) (at r170 v138) (at r60 v139) (at r11 v140) (at r188 v141) (at r169 v142) (at r115 v143) (at r10 v144) (at r58 v145) (at r78 v146) (at r141 v147) (at r131 v148) (at r144 v149) (at r121 v150) (at r26 v151) (at r110 v152) (at r164 v153) (at r82 v154) (at r81 v155) (at r84 v156) (at r150 v157) (at r176 v158) (at r62 v159) (at r117 v160) (at r22 v161) (at r104 v162) (at r167 v163) (at r190 v164) (at r151 v165) (at r57 v166) (at r158 v167) (at r92 v168) (free v169) (at r179 v170) (at r8 v171) (at r18 v172) (at r156 v173) (at r38 v174) (at r28 v175) (at r12 v176) (at r70 v177) (at r94 v178) (at r134 v179) (at r72 v180) (at r116 v181) (at r4 v182) (at r136 v183) (at r52 v184) (at r175 v185) (at r66 v186) (at r111 v187) (at r119 v188) (at r49 v189) (at r147 v190) (at r69 v191) (at r44 v192) (at r32 v193) (at r88 v194) (at r139 v195) (at r63 v196) (at r192 v197) (adjacent v0 v1) (adjacent v0 v4) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v6) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v87) (adjacent v3 v4) (adjacent v3 v14) (adjacent v4 v7) (adjacent v4 v9) (adjacent v4 v15) (adjacent v4 v21) (adjacent v5 v6) (adjacent v5 v7) (adjacent v5 v8) (adjacent v5 v32) (adjacent v6 v8) (adjacent v7 v19) (adjacent v7 v93) (adjacent v8 v33) (adjacent v9 v10) (adjacent v10 v11) (adjacent v11 v12) (adjacent v11 v80) (adjacent v12 v13) (adjacent v12 v31) (adjacent v12 v120) (adjacent v13 v14) (adjacent v13 v16) (adjacent v13 v20) (adjacent v13 v30) (adjacent v14 v17) (adjacent v14 v24) (adjacent v14 v25) (adjacent v15 v16) (adjacent v15 v20) (adjacent v16 v40) (adjacent v17 v18) (adjacent v18 v19) (adjacent v18 v34) (adjacent v18 v177) (adjacent v20 v46) (adjacent v20 v73) (adjacent v20 v194) (adjacent v21 v22) (adjacent v21 v81) (adjacent v22 v23) (adjacent v22 v136) (adjacent v23 v24) (adjacent v23 v41) (adjacent v23 v139) (adjacent v24 v59) (adjacent v25 v26) (adjacent v25 v159) (adjacent v26 v27) (adjacent v27 v28) (adjacent v27 v60) (adjacent v27 v100) (adjacent v28 v29) (adjacent v29 v30) (adjacent v29 v31) (adjacent v29 v35) (adjacent v29 v133) (adjacent v29 v152) (adjacent v30 v34) (adjacent v30 v54) (adjacent v31 v142) (adjacent v32 v33) (adjacent v32 v72) (adjacent v32 v158) (adjacent v32 v170) (adjacent v34 v76) (adjacent v34 v88) (adjacent v34 v119) (adjacent v35 v36) (adjacent v35 v157) (adjacent v36 v37) (adjacent v36 v108) (adjacent v37 v38) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v111) (adjacent v41 v42) (adjacent v41 v47) (adjacent v41 v64) (adjacent v42 v43) (adjacent v43 v44) (adjacent v43 v120) (adjacent v44 v45) (adjacent v45 v46) (adjacent v45 v53) (adjacent v46 v103) (adjacent v46 v106) (adjacent v46 v137) (adjacent v47 v48) (adjacent v47 v106) (adjacent v48 v49) (adjacent v49 v50) (adjacent v49 v107) (adjacent v49 v118) (adjacent v50 v51) (adjacent v51 v52) (adjacent v52 v53) (adjacent v54 v55) (adjacent v55 v56) (adjacent v55 v71) (adjacent v55 v150) (adjacent v56 v57) (adjacent v57 v58) (adjacent v57 v72) (adjacent v58 v59) (adjacent v60 v61) (adjacent v61 v62) (adjacent v61 v65) (adjacent v61 v77) (adjacent v62 v63) (adjacent v63 v64) (adjacent v65 v66) (adjacent v65 v171) (adjacent v66 v67) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v134) (adjacent v69 v70) (adjacent v70 v71) (adjacent v73 v74) (adjacent v74 v75) (adjacent v74 v121) (adjacent v74 v138) (adjacent v75 v76) (adjacent v77 v78) (adjacent v77 v105) (adjacent v78 v79) (adjacent v79 v80) (adjacent v81 v82) (adjacent v81 v99) (adjacent v82 v83) (adjacent v83 v84) (adjacent v84 v85) (adjacent v85 v86) (adjacent v86 v87) (adjacent v88 v89) (adjacent v88 v94) (adjacent v89 v90) (adjacent v89 v102) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v178) (adjacent v93 v109) (adjacent v94 v95) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v97 v128) (adjacent v98 v99) (adjacent v100 v101) (adjacent v100 v153) (adjacent v101 v102) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v127) (adjacent v107 v108) (adjacent v107 v112) (adjacent v109 v110) (adjacent v110 v111) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v115) (adjacent v114 v119) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v137) (adjacent v118 v138) (adjacent v119 v166) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v130 v184) (adjacent v131 v132) (adjacent v131 v190) (adjacent v132 v133) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v143) (adjacent v137 v149) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v151) (adjacent v143 v144) (adjacent v144 v145) (adjacent v144 v195) (adjacent v145 v146) (adjacent v145 v150) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v148 v185) (adjacent v149 v167) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v156 v160) (adjacent v158 v159) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v167 v186) (adjacent v168 v169) (adjacent v169 v170) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v175 v197) (adjacent v176 v177) (adjacent v178 v179) (adjacent v179 v180) (adjacent v179 v191) (adjacent v180 v181) (adjacent v181 v182) (adjacent v182 v183) (adjacent v183 v184) (adjacent v183 v185) (adjacent v186 v187) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v190) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v195 v196) (adjacent v196 v197) ) (:goal (and (at r195 v0) (at r163 v1) (at r179 v2) (at r62 v3) (at r153 v4) (at r191 v5) (at r41 v6) (at r131 v7) (at r142 v8) (at r105 v9) (at r21 v10) (at r33 v11) (at r55 v12) (at r89 v13) (at r192 v14) (at r134 v15) (at r76 v16) (at r194 v17) (at r150 v18) (at r187 v19) (at r108 v20) (at r161 v21) (at r151 v22) (at r27 v23) (at r31 v24) (at r165 v25) (at r68 v26) (at r17 v27) (at r15 v28) (at r69 v29) (at r111 v30) (at r74 v31) (at r104 v32) (at r7 v33) (at r120 v34) (at r155 v35) (at r3 v36) (at r56 v37) (at r141 v38) (at r188 v39) (at r147 v40) (at r176 v41) (at r166 v42) (at r115 v43) (at r125 v44) (at r119 v45) (at r167 v46) (at r109 v47) (at r54 v48) (at r86 v49) (at r5 v50) (at r26 v51) (at r136 v52) (at r110 v53) (at r67 v54) (at r106 v55) (at r83 v56) (at r181 v57) (at r128 v58) (at r133 v59) (at r98 v60) (at r46 v61) (at r70 v62) (at r138 v63) (at r35 v64) (at r143 v65) (at r164 v66) (at r10 v67) (at r73 v68) (at r101 v69) (at r148 v70) (at r124 v71) (at r185 v72) (at r6 v73) (at r71 v74) (at r145 v75) (at r40 v76) (at r132 v77) (at r99 v78) (at r19 v79) (at r177 v80) (at r75 v81) (at r87 v82) (at r127 v83) (at r159 v84) (at r30 v85) (at r12 v86) (at r51 v87) (at r157 v88) (at r59 v89) (at r29 v90) (at r77 v91) (at r28 v92) (at r96 v93) (at r175 v94) (at r49 v95) (at r94 v96) (at r196 v97) (at r97 v98) (at r168 v99) (at r113 v100) (at r64 v101) (at r172 v102) (at r156 v103) (at r38 v104) (at r162 v105) (at r197 v106) (at r122 v107) (at r85 v108) (at r154 v109) (at r14 v110) (at r11 v111) (free v112) (free v113) (at r61 v114) (at r57 v115) (at r178 v116) (at r137 v117) (at r190 v118) (at r90 v119) (at r91 v120) (at r186 v121) (at r184 v122) (at r32 v123) (at r2 v124) (at r24 v125) (at r107 v126) (at r65 v127) (at r80 v128) (at r34 v129) (at r116 v130) (at r93 v131) (at r129 v132) (at r42 v133) (at r79 v134) (at r130 v135) (at r13 v136) (at r169 v137) (at r23 v138) (at r43 v139) (at r82 v140) (at r58 v141) (at r123 v142) (at r152 v143) (at r44 v144) (at r193 v145) (at r22 v146) (at r52 v147) (at r183 v148) (at r114 v149) (at r103 v150) (at r16 v151) (at r4 v152) (at r53 v153) (at r20 v154) (at r160 v155) (at r9 v156) (at r95 v157) (at r170 v158) (at r158 v159) (at r50 v160) (at r18 v161) (at r135 v162) (at r118 v163) (at r66 v164) (at r84 v165) (at r25 v166) (at r48 v167) (at r92 v168) (at r144 v169) (at r45 v170) (at r121 v171) (at r88 v172) (at r36 v173) (at r72 v174) (at r139 v175) (at r78 v176) (at r47 v177) (at r102 v178) (at r182 v179) (at r174 v180) (at r112 v181) (at r8 v182) (at r171 v183) (at r81 v184) (at r117 v185) (at r60 v186) (at r126 v187) (at r140 v188) (at r149 v189) (at r189 v190) (at r173 v191) (at r100 v192) (at r39 v193) (at r146 v194) (at r180 v195) (at r37 v196) (at r63 v197) ) ) )