(define (problem multirobot_53_2_c5)
 (:domain multirobot)
 (:objects
  v0 r41
  v1 r36
  v2 r12
  v3 r119
  v4 r82
  v5 r53
  v6 r73
  v7 r150
  v8 r14
  v9 r167
  v10 r77
  v11 r11
  v12 r122
  v13 r85
  v14 r3
  v15 r76
  v16 r18
  v17 r29
  v18 r153
  v19 r105
  v20 r26
  v21 r6
  v22 r147
  v23 r62
  v24 r71
  v25 r39
  v26 r28
  v27 r198
  v28 r25
  v29 r193
  v30 r66
  v31 r57
  v32 r199
  v33 r168
  v34 r86
  v35 r90
  v36 r176
  v37 r142
  v38 r95
  v39 r38
  v40 r184
  v41 r149
  v42 r108
  v43 r23
  v44 r59
  v45 r112
  v46
  v47 r117
  v48 r30
  v49 r67
  v50 r154
  v51 r194
  v52 r121
  v53 r128
  v54 r88
  v55 r106
  v56 r63
  v57 r109
  v58 r5
  v59 r148
  v60 r130
  v61 r20
  v62 r96
  v63 r161
  v64 r104
  v65 r179
  v66 r54
  v67 r48
  v68 r40
  v69 r78
  v70 r189
  v71 r186
  v72 r32
  v73 r132
  v74 r138
  v75 r70
  v76 r137
  v77 r27
  v78 r133
  v79 r45
  v80 r135
  v81 r56
  v82 r98
  v83 r152
  v84 r115
  v85 r171
  v86 r2
  v87 r7
  v88 r173
  v89 r181
  v90 r47
  v91 r21
  v92 r185
  v93 r172
  v94 r157
  v95 r89
  v96 r43
  v97 r182
  v98 r196
  v99
  v100 r51
  v101 r155
  v102 r174
  v103 r116
  v104 r110
  v105 r125
  v106 r37
  v107 r74
  v108 r134
  v109 r107
  v110 r123
  v111 r17
  v112 r101
  v113 r197
  v114 r139
  v115 r99
  v116 r163
  v117 r42
  v118 r55
  v119 r177
  v120 r146
  v121 r126
  v122 r72
  v123 r127
  v124 r92
  v125 r52
  v126 r15
  v127 r160
  v128 r60
  v129 r34
  v130 r162
  v131 r19
  v132 r195
  v133 r200
  v134 r68
  v135 r169
  v136 r35
  v137 r64
  v138 r93
  v139 r141
  v140 r10
  v141 r9
  v142 r131
  v143 r31
  v144 r44
  v145 r111
  v146 r136
  v147 r16
  v148 r22
  v149 r83
  v150 r178
  v151 r120
  v152 r175
  v153 r49
  v154 r187
  v155 r69
  v156 r94
  v157 r33
  v158 r8
  v159 r140
  v160 r114
  v161 r129
  v162 r192
  v163 r191
  v164 r156
  v165 r118
  v166 r170
  v167 r91
  v168 r166
  v169 r80
  v170 r4
  v171 r84
  v172 r79
  v173 r165
  v174 r13
  v175 r190
  v176 r158
  v177 r61
  v178 r24
  v179 r58
  v180 r164
  v181 r46
  v182 r102
  v183 r145
  v184 r97
  v185 r103
  v186 r81
  v187 r183
  v188 r143
  v189 r113
  v190 r159
  v191 r100
  v192 r180
  v193 r144
  v194 r188
  v195 r87
  v196 r75
  v197 r65
  v198 r124
  v199 r151
  v200 r50
 )
 (:init
  (at r41 v0)
  (at r36 v1)
  (at r12 v2)
  (at r119 v3)
  (at r82 v4)
  (at r53 v5)
  (at r73 v6)
  (at r150 v7)
  (at r14 v8)
  (at r167 v9)
  (at r77 v10)
  (at r11 v11)
  (at r122 v12)
  (at r85 v13)
  (at r3 v14)
  (at r76 v15)
  (at r18 v16)
  (at r29 v17)
  (at r153 v18)
  (at r105 v19)
  (at r26 v20)
  (at r6 v21)
  (at r147 v22)
  (at r62 v23)
  (at r71 v24)
  (at r39 v25)
  (at r28 v26)
  (at r198 v27)
  (at r25 v28)
  (at r193 v29)
  (at r66 v30)
  (at r57 v31)
  (at r199 v32)
  (at r168 v33)
  (at r86 v34)
  (at r90 v35)
  (at r176 v36)
  (at r142 v37)
  (at r95 v38)
  (at r38 v39)
  (at r184 v40)
  (at r149 v41)
  (at r108 v42)
  (at r23 v43)
  (at r59 v44)
  (at r112 v45)
  (free v46)
  (at r117 v47)
  (at r30 v48)
  (at r67 v49)
  (at r154 v50)
  (at r194 v51)
  (at r121 v52)
  (at r128 v53)
  (at r88 v54)
  (at r106 v55)
  (at r63 v56)
  (at r109 v57)
  (at r5 v58)
  (at r148 v59)
  (at r130 v60)
  (at r20 v61)
  (at r96 v62)
  (at r161 v63)
  (at r104 v64)
  (at r179 v65)
  (at r54 v66)
  (at r48 v67)
  (at r40 v68)
  (at r78 v69)
  (at r189 v70)
  (at r186 v71)
  (at r32 v72)
  (at r132 v73)
  (at r138 v74)
  (at r70 v75)
  (at r137 v76)
  (at r27 v77)
  (at r133 v78)
  (at r45 v79)
  (at r135 v80)
  (at r56 v81)
  (at r98 v82)
  (at r152 v83)
  (at r115 v84)
  (at r171 v85)
  (at r2 v86)
  (at r7 v87)
  (at r173 v88)
  (at r181 v89)
  (at r47 v90)
  (at r21 v91)
  (at r185 v92)
  (at r172 v93)
  (at r157 v94)
  (at r89 v95)
  (at r43 v96)
  (at r182 v97)
  (at r196 v98)
  (free v99)
  (at r51 v100)
  (at r155 v101)
  (at r174 v102)
  (at r116 v103)
  (at r110 v104)
  (at r125 v105)
  (at r37 v106)
  (at r74 v107)
  (at r134 v108)
  (at r107 v109)
  (at r123 v110)
  (at r17 v111)
  (at r101 v112)
  (at r197 v113)
  (at r139 v114)
  (at r99 v115)
  (at r163 v116)
  (at r42 v117)
  (at r55 v118)
  (at r177 v119)
  (at r146 v120)
  (at r126 v121)
  (at r72 v122)
  (at r127 v123)
  (at r92 v124)
  (at r52 v125)
  (at r15 v126)
  (at r160 v127)
  (at r60 v128)
  (at r34 v129)
  (at r162 v130)
  (at r19 v131)
  (at r195 v132)
  (at r200 v133)
  (at r68 v134)
  (at r169 v135)
  (at r35 v136)
  (at r64 v137)
  (at r93 v138)
  (at r141 v139)
  (at r10 v140)
  (at r9 v141)
  (at r131 v142)
  (at r31 v143)
  (at r44 v144)
  (at r111 v145)
  (at r136 v146)
  (at r16 v147)
  (at r22 v148)
  (at r83 v149)
  (at r178 v150)
  (at r120 v151)
  (at r175 v152)
  (at r49 v153)
  (at r187 v154)
  (at r69 v155)
  (at r94 v156)
  (at r33 v157)
  (at r8 v158)
  (at r140 v159)
  (at r114 v160)
  (at r129 v161)
  (at r192 v162)
  (at r191 v163)
  (at r156 v164)
  (at r118 v165)
  (at r170 v166)
  (at r91 v167)
  (at r166 v168)
  (at r80 v169)
  (at r4 v170)
  (at r84 v171)
  (at r79 v172)
  (at r165 v173)
  (at r13 v174)
  (at r190 v175)
  (at r158 v176)
  (at r61 v177)
  (at r24 v178)
  (at r58 v179)
  (at r164 v180)
  (at r46 v181)
  (at r102 v182)
  (at r145 v183)
  (at r97 v184)
  (at r103 v185)
  (at r81 v186)
  (at r183 v187)
  (at r143 v188)
  (at r113 v189)
  (at r159 v190)
  (at r100 v191)
  (at r180 v192)
  (at r144 v193)
  (at r188 v194)
  (at r87 v195)
  (at r75 v196)
  (at r65 v197)
  (at r124 v198)
  (at r151 v199)
  (at r50 v200)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v111)
  (adjacent v1 v2)
  (adjacent v1 v120)
  (adjacent v2 v3)
  (adjacent v2 v15)
  (adjacent v2 v33)
  (adjacent v2 v59)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v8)
  (adjacent v3 v171)
  (adjacent v4 v14)
  (adjacent v4 v47)
  (adjacent v4 v65)
  (adjacent v5 v6)
  (adjacent v5 v15)
  (adjacent v5 v26)
  (adjacent v6 v7)
  (adjacent v7 v46)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v8 v191)
  (adjacent v9 v10)
  (adjacent v9 v137)
  (adjacent v10 v11)
  (adjacent v10 v38)
  (adjacent v10 v172)
  (adjacent v11 v12)
  (adjacent v11 v48)
  (adjacent v12 v13)
  (adjacent v12 v21)
  (adjacent v12 v27)
  (adjacent v12 v34)
  (adjacent v12 v76)
  (adjacent v12 v132)
  (adjacent v13 v14)
  (adjacent v13 v16)
  (adjacent v13 v127)
  (adjacent v14 v25)
  (adjacent v15 v52)
  (adjacent v15 v80)
  (adjacent v16 v17)
  (adjacent v16 v112)
  (adjacent v17 v18)
  (adjacent v17 v107)
  (adjacent v18 v19)
  (adjacent v18 v133)
  (adjacent v19 v20)
  (adjacent v19 v35)
  (adjacent v19 v42)
  (adjacent v19 v47)
  (adjacent v19 v119)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v26)
  (adjacent v22 v41)
  (adjacent v22 v75)
  (adjacent v23 v24)
  (adjacent v23 v68)
  (adjacent v23 v185)
  (adjacent v23 v200)
  (adjacent v24 v25)
  (adjacent v24 v34)
  (adjacent v24 v48)
  (adjacent v24 v69)
  (adjacent v26 v74)
  (adjacent v27 v28)
  (adjacent v27 v49)
  (adjacent v27 v117)
  (adjacent v28 v29)
  (adjacent v28 v66)
  (adjacent v28 v155)
  (adjacent v29 v30)
  (adjacent v29 v166)
  (adjacent v30 v31)
  (adjacent v30 v155)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v39)
  (adjacent v33 v43)
  (adjacent v33 v152)
  (adjacent v34 v88)
  (adjacent v35 v36)
  (adjacent v35 v85)
  (adjacent v36 v37)
  (adjacent v36 v51)
  (adjacent v36 v58)
  (adjacent v36 v119)
  (adjacent v37 v38)
  (adjacent v38 v42)
  (adjacent v38 v81)
  (adjacent v39 v40)
  (adjacent v39 v191)
  (adjacent v40 v41)
  (adjacent v42 v145)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v75)
  (adjacent v44 v89)
  (adjacent v45 v46)
  (adjacent v45 v139)
  (adjacent v46 v113)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v100)
  (adjacent v53 v54)
  (adjacent v53 v139)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v94)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v86)
  (adjacent v63 v64)
  (adjacent v63 v187)
  (adjacent v64 v65)
  (adjacent v65 v190)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v151)
  (adjacent v69 v70)
  (adjacent v69 v138)
  (adjacent v69 v140)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v95)
  (adjacent v75 v162)
  (adjacent v76 v77)
  (adjacent v76 v167)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v138)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v112)
  (adjacent v82 v184)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v101)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v179)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v118)
  (adjacent v95 v96)
  (adjacent v95 v198)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v149)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v106)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v156)
  (adjacent v110 v111)
  (adjacent v112 v118)
  (adjacent v112 v152)
  (adjacent v113 v114)
  (adjacent v113 v178)
  (adjacent v113 v197)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v172)
  (adjacent v116 v117)
  (adjacent v118 v126)
  (adjacent v118 v144)
  (adjacent v119 v188)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v173)
  (adjacent v131 v132)
  (adjacent v132 v150)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v153)
  (adjacent v139 v154)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v145 v161)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v153 v154)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v189 v192)
  (adjacent v192 v193)
  (adjacent v193 v194)
  (adjacent v194 v195)
  (adjacent v195 v196)
  (adjacent v196 v197)
  (adjacent v198 v199)
  (adjacent v199 v200)
 )
 (:goal
  (and
  (at r98 v0)
  (at r2 v1)
  (at r165 v2)
  (at r36 v3)
  (at r105 v4)
  (free v5)
  (at r31 v6)
  (at r183 v7)
  (at r121 v8)
  (at r135 v9)
  (at r75 v10)
  (at r89 v11)
  (at r181 v12)
  (at r130 v13)
  (at r113 v14)
  (at r170 v15)
  (at r94 v16)
  (at r100 v17)
  (at r122 v18)
  (at r57 v19)
  (at r120 v20)
  (at r159 v21)
  (at r139 v22)
  (at r138 v23)
  (at r167 v24)
  (at r160 v25)
  (at r162 v26)
  (at r25 v27)
  (at r68 v28)
  (at r131 v29)
  (at r3 v30)
  (at r24 v31)
  (at r16 v32)
  (at r179 v33)
  (at r101 v34)
  (at r127 v35)
  (free v36)
  (at r76 v37)
  (at r114 v38)
  (at r189 v39)
  (at r11 v40)
  (at r186 v41)
  (at r178 v42)
  (at r92 v43)
  (at r106 v44)
  (at r87 v45)
  (at r53 v46)
  (at r65 v47)
  (at r155 v48)
  (at r102 v49)
  (at r174 v50)
  (at r150 v51)
  (at r118 v52)
  (at r196 v53)
  (at r35 v54)
  (at r34 v55)
  (at r151 v56)
  (at r10 v57)
  (at r96 v58)
  (at r14 v59)
  (at r142 v60)
  (at r28 v61)
  (at r136 v62)
  (at r7 v63)
  (at r137 v64)
  (at r149 v65)
  (at r21 v66)
  (at r81 v67)
  (at r80 v68)
  (at r48 v69)
  (at r168 v70)
  (at r8 v71)
  (at r157 v72)
  (at r125 v73)
  (at r38 v74)
  (at r66 v75)
  (at r72 v76)
  (at r169 v77)
  (at r171 v78)
  (at r32 v79)
  (at r163 v80)
  (at r158 v81)
  (at r37 v82)
  (at r156 v83)
  (at r73 v84)
  (at r63 v85)
  (at r4 v86)
  (at r61 v87)
  (at r30 v88)
  (at r140 v89)
  (at r69 v90)
  (at r18 v91)
  (at r50 v92)
  (at r187 v93)
  (at r49 v94)
  (at r90 v95)
  (at r132 v96)
  (at r12 v97)
  (at r44 v98)
  (at r93 v99)
  (at r95 v100)
  (at r47 v101)
  (at r97 v102)
  (at r91 v103)
  (at r84 v104)
  (at r77 v105)
  (at r41 v106)
  (at r147 v107)
  (at r119 v108)
  (at r144 v109)
  (at r6 v110)
  (at r59 v111)
  (at r78 v112)
  (at r60 v113)
  (at r134 v114)
  (at r108 v115)
  (at r83 v116)
  (at r173 v117)
  (at r9 v118)
  (at r52 v119)
  (at r191 v120)
  (at r126 v121)
  (at r64 v122)
  (at r145 v123)
  (at r115 v124)
  (at r192 v125)
  (at r19 v126)
  (at r17 v127)
  (at r51 v128)
  (at r62 v129)
  (at r199 v130)
  (at r42 v131)
  (at r20 v132)
  (at r58 v133)
  (at r124 v134)
  (at r82 v135)
  (at r111 v136)
  (at r184 v137)
  (at r185 v138)
  (at r5 v139)
  (at r112 v140)
  (at r74 v141)
  (at r88 v142)
  (at r180 v143)
  (at r85 v144)
  (at r40 v145)
  (at r117 v146)
  (at r143 v147)
  (at r141 v148)
  (at r103 v149)
  (at r172 v150)
  (at r190 v151)
  (at r54 v152)
  (at r116 v153)
  (at r86 v154)
  (at r193 v155)
  (at r188 v156)
  (at r200 v157)
  (at r148 v158)
  (at r133 v159)
  (at r152 v160)
  (at r195 v161)
  (at r146 v162)
  (at r71 v163)
  (at r175 v164)
  (at r154 v165)
  (at r153 v166)
  (at r109 v167)
  (at r161 v168)
  (at r129 v169)
  (at r15 v170)
  (at r123 v171)
  (at r26 v172)
  (at r67 v173)
  (at r107 v174)
  (at r29 v175)
  (at r99 v176)
  (at r104 v177)
  (at r128 v178)
  (at r13 v179)
  (at r45 v180)
  (at r56 v181)
  (at r182 v182)
  (at r198 v183)
  (at r70 v184)
  (at r46 v185)
  (at r55 v186)
  (at r110 v187)
  (at r23 v188)
  (at r33 v189)
  (at r22 v190)
  (at r43 v191)
  (at r197 v192)
  (at r39 v193)
  (at r166 v194)
  (at r194 v195)
  (at r176 v196)
  (at r177 v197)
  (at r164 v198)
  (at r79 v199)
  (at r27 v200)
  )
 )
)