(define (problem multirobot_52_2_c9)
 (:domain multirobot)
 (:objects
  v0 r50
  v1 r39
  v2 r34
  v3 r3
  v4 r74
  v5 r21
  v6 r113
  v7 r177
  v8 r170
  v9 r47
  v10 r104
  v11 r71
  v12 r121
  v13 r147
  v14 r46
  v15 r92
  v16 r100
  v17 r97
  v18 r88
  v19 r25
  v20 r115
  v21 r172
  v22 r79
  v23 r22
  v24 r90
  v25 r138
  v26 r160
  v27 r8
  v28 r166
  v29 r149
  v30 r169
  v31 r30
  v32 r178
  v33 r12
  v34 r167
  v35 r14
  v36 r60
  v37 r5
  v38 r110
  v39 r53
  v40 r116
  v41 r31
  v42 r28
  v43 r102
  v44 r157
  v45 r99
  v46 r61
  v47 r162
  v48 r131
  v49 r119
  v50 r82
  v51 r153
  v52 r101
  v53 r151
  v54 r117
  v55 r143
  v56 r109
  v57 r77
  v58 r35
  v59 r18
  v60 r130
  v61 r11
  v62 r27
  v63 r122
  v64 r136
  v65 r146
  v66 r173
  v67 r150
  v68 r139
  v69 r17
  v70 r126
  v71 r52
  v72 r69
  v73 r85
  v74 r171
  v75 r26
  v76 r42
  v77 r125
  v78 r67
  v79 r76
  v80 r98
  v81 r103
  v82 r23
  v83 r9
  v84 r96
  v85 r94
  v86 r83
  v87 r13
  v88 r111
  v89
  v90 r38
  v91 r20
  v92 r114
  v93 r70
  v94 r154
  v95 r123
  v96 r4
  v97 r108
  v98 r163
  v99 r118
  v100 r106
  v101 r156
  v102 r159
  v103 r59
  v104 r6
  v105 r68
  v106 r66
  v107 r15
  v108 r148
  v109 r75
  v110 r24
  v111 r145
  v112 r137
  v113 r140
  v114 r152
  v115 r174
  v116 r175
  v117 r58
  v118 r64
  v119 r2
  v120 r48
  v121 r124
  v122 r81
  v123 r63
  v124 r133
  v125
  v126 r95
  v127 r40
  v128 r55
  v129 r65
  v130 r141
  v131 r57
  v132 r29
  v133 r86
  v134 r132
  v135 r62
  v136 r54
  v137 r144
  v138 r78
  v139 r73
  v140 r128
  v141 r164
  v142 r161
  v143 r51
  v144 r80
  v145 r41
  v146 r33
  v147 r19
  v148 r135
  v149 r107
  v150 r155
  v151 r72
  v152 r32
  v153 r36
  v154 r105
  v155 r168
  v156 r142
  v157 r120
  v158 r87
  v159 r91
  v160 r37
  v161 r93
  v162 r49
  v163 r112
  v164 r56
  v165 r84
  v166 r16
  v167 r10
  v168 r158
  v169 r176
  v170 r7
  v171 r127
  v172 r165
  v173 r89
  v174 r44
  v175 r43
  v176 r134
  v177 r45
  v178 r129
 )
 (:init
  (at r50 v0)
  (at r39 v1)
  (at r34 v2)
  (at r3 v3)
  (at r74 v4)
  (at r21 v5)
  (at r113 v6)
  (at r177 v7)
  (at r170 v8)
  (at r47 v9)
  (at r104 v10)
  (at r71 v11)
  (at r121 v12)
  (at r147 v13)
  (at r46 v14)
  (at r92 v15)
  (at r100 v16)
  (at r97 v17)
  (at r88 v18)
  (at r25 v19)
  (at r115 v20)
  (at r172 v21)
  (at r79 v22)
  (at r22 v23)
  (at r90 v24)
  (at r138 v25)
  (at r160 v26)
  (at r8 v27)
  (at r166 v28)
  (at r149 v29)
  (at r169 v30)
  (at r30 v31)
  (at r178 v32)
  (at r12 v33)
  (at r167 v34)
  (at r14 v35)
  (at r60 v36)
  (at r5 v37)
  (at r110 v38)
  (at r53 v39)
  (at r116 v40)
  (at r31 v41)
  (at r28 v42)
  (at r102 v43)
  (at r157 v44)
  (at r99 v45)
  (at r61 v46)
  (at r162 v47)
  (at r131 v48)
  (at r119 v49)
  (at r82 v50)
  (at r153 v51)
  (at r101 v52)
  (at r151 v53)
  (at r117 v54)
  (at r143 v55)
  (at r109 v56)
  (at r77 v57)
  (at r35 v58)
  (at r18 v59)
  (at r130 v60)
  (at r11 v61)
  (at r27 v62)
  (at r122 v63)
  (at r136 v64)
  (at r146 v65)
  (at r173 v66)
  (at r150 v67)
  (at r139 v68)
  (at r17 v69)
  (at r126 v70)
  (at r52 v71)
  (at r69 v72)
  (at r85 v73)
  (at r171 v74)
  (at r26 v75)
  (at r42 v76)
  (at r125 v77)
  (at r67 v78)
  (at r76 v79)
  (at r98 v80)
  (at r103 v81)
  (at r23 v82)
  (at r9 v83)
  (at r96 v84)
  (at r94 v85)
  (at r83 v86)
  (at r13 v87)
  (at r111 v88)
  (free v89)
  (at r38 v90)
  (at r20 v91)
  (at r114 v92)
  (at r70 v93)
  (at r154 v94)
  (at r123 v95)
  (at r4 v96)
  (at r108 v97)
  (at r163 v98)
  (at r118 v99)
  (at r106 v100)
  (at r156 v101)
  (at r159 v102)
  (at r59 v103)
  (at r6 v104)
  (at r68 v105)
  (at r66 v106)
  (at r15 v107)
  (at r148 v108)
  (at r75 v109)
  (at r24 v110)
  (at r145 v111)
  (at r137 v112)
  (at r140 v113)
  (at r152 v114)
  (at r174 v115)
  (at r175 v116)
  (at r58 v117)
  (at r64 v118)
  (at r2 v119)
  (at r48 v120)
  (at r124 v121)
  (at r81 v122)
  (at r63 v123)
  (at r133 v124)
  (free v125)
  (at r95 v126)
  (at r40 v127)
  (at r55 v128)
  (at r65 v129)
  (at r141 v130)
  (at r57 v131)
  (at r29 v132)
  (at r86 v133)
  (at r132 v134)
  (at r62 v135)
  (at r54 v136)
  (at r144 v137)
  (at r78 v138)
  (at r73 v139)
  (at r128 v140)
  (at r164 v141)
  (at r161 v142)
  (at r51 v143)
  (at r80 v144)
  (at r41 v145)
  (at r33 v146)
  (at r19 v147)
  (at r135 v148)
  (at r107 v149)
  (at r155 v150)
  (at r72 v151)
  (at r32 v152)
  (at r36 v153)
  (at r105 v154)
  (at r168 v155)
  (at r142 v156)
  (at r120 v157)
  (at r87 v158)
  (at r91 v159)
  (at r37 v160)
  (at r93 v161)
  (at r49 v162)
  (at r112 v163)
  (at r56 v164)
  (at r84 v165)
  (at r16 v166)
  (at r10 v167)
  (at r158 v168)
  (at r176 v169)
  (at r7 v170)
  (at r127 v171)
  (at r165 v172)
  (at r89 v173)
  (at r44 v174)
  (at r43 v175)
  (at r134 v176)
  (at r45 v177)
  (at r129 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v32)
  (adjacent v0 v37)
  (adjacent v0 v45)
  (adjacent v0 v46)
  (adjacent v1 v2)
  (adjacent v1 v14)
  (adjacent v1 v55)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v15)
  (adjacent v2 v29)
  (adjacent v2 v61)
  (adjacent v3 v4)
  (adjacent v3 v36)
  (adjacent v3 v154)
  (adjacent v4 v6)
  (adjacent v4 v71)
  (adjacent v5 v6)
  (adjacent v5 v25)
  (adjacent v5 v54)
  (adjacent v6 v7)
  (adjacent v6 v85)
  (adjacent v6 v112)
  (adjacent v7 v8)
  (adjacent v7 v117)
  (adjacent v8 v9)
  (adjacent v8 v153)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v20)
  (adjacent v11 v12)
  (adjacent v11 v24)
  (adjacent v11 v31)
  (adjacent v11 v86)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v30)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v15 v24)
  (adjacent v15 v30)
  (adjacent v15 v97)
  (adjacent v16 v17)
  (adjacent v16 v33)
  (adjacent v16 v112)
  (adjacent v17 v18)
  (adjacent v17 v31)
  (adjacent v17 v62)
  (adjacent v18 v19)
  (adjacent v18 v63)
  (adjacent v18 v140)
  (adjacent v19 v20)
  (adjacent v19 v23)
  (adjacent v19 v81)
  (adjacent v20 v79)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v72)
  (adjacent v21 v90)
  (adjacent v21 v105)
  (adjacent v22 v23)
  (adjacent v22 v85)
  (adjacent v23 v63)
  (adjacent v23 v129)
  (adjacent v25 v26)
  (adjacent v25 v32)
  (adjacent v26 v27)
  (adjacent v26 v39)
  (adjacent v26 v91)
  (adjacent v27 v28)
  (adjacent v27 v52)
  (adjacent v28 v29)
  (adjacent v28 v66)
  (adjacent v28 v67)
  (adjacent v30 v35)
  (adjacent v30 v38)
  (adjacent v31 v163)
  (adjacent v33 v34)
  (adjacent v33 v176)
  (adjacent v34 v35)
  (adjacent v34 v45)
  (adjacent v36 v62)
  (adjacent v37 v38)
  (adjacent v37 v44)
  (adjacent v38 v161)
  (adjacent v39 v40)
  (adjacent v39 v121)
  (adjacent v40 v41)
  (adjacent v40 v78)
  (adjacent v40 v99)
  (adjacent v41 v42)
  (adjacent v41 v82)
  (adjacent v42 v43)
  (adjacent v42 v67)
  (adjacent v42 v106)
  (adjacent v43 v44)
  (adjacent v43 v68)
  (adjacent v44 v111)
  (adjacent v44 v141)
  (adjacent v45 v53)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v135)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v53 v110)
  (adjacent v55 v56)
  (adjacent v55 v130)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v63 v64)
  (adjacent v63 v145)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v168)
  (adjacent v68 v69)
  (adjacent v68 v84)
  (adjacent v68 v143)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v98)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v123)
  (adjacent v83 v84)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v149)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v167)
  (adjacent v91 v92)
  (adjacent v91 v116)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v162)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v124)
  (adjacent v104 v105)
  (adjacent v104 v113)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v111)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v144)
  (adjacent v113 v114)
  (adjacent v113 v120)
  (adjacent v114 v115)
  (adjacent v114 v175)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v136)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v153)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v178)
  (adjacent v133 v134)
  (adjacent v133 v148)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v142)
  (adjacent v137 v174)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v143 v162)
  (adjacent v145 v146)
  (adjacent v145 v152)
  (adjacent v146 v147)
  (adjacent v146 v160)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v151 v161)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v168 v175)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r76 v0)
  (at r7 v1)
  (at r96 v2)
  (at r5 v3)
  (at r88 v4)
  (at r165 v5)
  (at r60 v6)
  (at r103 v7)
  (at r11 v8)
  (at r144 v9)
  (at r51 v10)
  (at r177 v11)
  (at r155 v12)
  (at r145 v13)
  (at r62 v14)
  (at r65 v15)
  (at r24 v16)
  (at r157 v17)
  (at r140 v18)
  (at r114 v19)
  (at r152 v20)
  (at r2 v21)
  (at r158 v22)
  (at r61 v23)
  (at r126 v24)
  (at r169 v25)
  (at r170 v26)
  (at r128 v27)
  (at r120 v28)
  (at r69 v29)
  (at r17 v30)
  (at r37 v31)
  (at r63 v32)
  (at r66 v33)
  (at r176 v34)
  (at r175 v35)
  (at r119 v36)
  (at r81 v37)
  (at r133 v38)
  (at r84 v39)
  (at r105 v40)
  (at r75 v41)
  (at r113 v42)
  (at r56 v43)
  (free v44)
  (at r174 v45)
  (at r142 v46)
  (at r122 v47)
  (at r80 v48)
  (at r67 v49)
  (at r121 v50)
  (at r42 v51)
  (at r162 v52)
  (at r90 v53)
  (at r27 v54)
  (at r36 v55)
  (at r79 v56)
  (at r46 v57)
  (at r25 v58)
  (at r44 v59)
  (at r171 v60)
  (at r52 v61)
  (at r23 v62)
  (at r49 v63)
  (at r82 v64)
  (at r160 v65)
  (at r48 v66)
  (at r111 v67)
  (at r19 v68)
  (at r99 v69)
  (at r85 v70)
  (at r125 v71)
  (at r168 v72)
  (at r131 v73)
  (at r173 v74)
  (at r112 v75)
  (at r91 v76)
  (at r147 v77)
  (at r172 v78)
  (at r18 v79)
  (at r13 v80)
  (at r98 v81)
  (at r78 v82)
  (at r15 v83)
  (at r31 v84)
  (at r134 v85)
  (at r74 v86)
  (at r116 v87)
  (at r97 v88)
  (at r43 v89)
  (at r10 v90)
  (at r58 v91)
  (at r28 v92)
  (at r89 v93)
  (at r47 v94)
  (at r30 v95)
  (at r94 v96)
  (at r136 v97)
  (at r35 v98)
  (at r64 v99)
  (at r127 v100)
  (at r148 v101)
  (free v102)
  (at r139 v103)
  (at r104 v104)
  (at r83 v105)
  (at r71 v106)
  (at r108 v107)
  (at r70 v108)
  (at r167 v109)
  (at r41 v110)
  (at r100 v111)
  (at r54 v112)
  (at r40 v113)
  (at r143 v114)
  (at r95 v115)
  (at r73 v116)
  (at r55 v117)
  (at r14 v118)
  (at r117 v119)
  (at r146 v120)
  (at r110 v121)
  (at r115 v122)
  (at r72 v123)
  (at r129 v124)
  (at r130 v125)
  (at r12 v126)
  (at r124 v127)
  (at r57 v128)
  (at r93 v129)
  (at r20 v130)
  (at r106 v131)
  (at r137 v132)
  (at r50 v133)
  (at r16 v134)
  (at r107 v135)
  (at r92 v136)
  (at r3 v137)
  (at r150 v138)
  (at r159 v139)
  (at r34 v140)
  (at r53 v141)
  (at r8 v142)
  (at r29 v143)
  (at r166 v144)
  (at r59 v145)
  (at r45 v146)
  (at r161 v147)
  (at r132 v148)
  (at r6 v149)
  (at r102 v150)
  (at r101 v151)
  (at r135 v152)
  (at r154 v153)
  (at r151 v154)
  (at r33 v155)
  (at r39 v156)
  (at r22 v157)
  (at r32 v158)
  (at r149 v159)
  (at r178 v160)
  (at r4 v161)
  (at r87 v162)
  (at r123 v163)
  (at r164 v164)
  (at r21 v165)
  (at r86 v166)
  (at r68 v167)
  (at r38 v168)
  (at r9 v169)
  (at r156 v170)
  (at r141 v171)
  (at r138 v172)
  (at r26 v173)
  (at r118 v174)
  (at r163 v175)
  (at r153 v176)
  (at r77 v177)
  (at r109 v178)
  )
 )
)