(define (problem multirobot_44_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r147
  v1 r106
  v2
  v3 r138
  v4
  v5 r91
  v6 r183
  v7 r140
  v8
  v9
  v10 r146
  v11
  v12 r127
  v13 r166
  v14
  v15
  v16 r151
  v17 r168
  v18
  v19 r155
  v20
  v21
  v22
  v23 r159
  v24
  v25
  v26
  v27 r96
  v28 r174
  v29 r123
  v30
  v31 r144
  v32 r97
  v33
  v34 r149
  v35
  v36 r107
  v37
  v38
  v39 r119
  v40
  v41
  v42
  v43
  v44 r126
  v45 r150
  v46 r184
  v47
  v48
  v49
  v50 r118
  v51 r121
  v52 r141
  v53 r99
  v54 r156
  v55
  v56 r145
  v57 r153
  v58 r157
  v59
  v60 r113
  v61 r187
  v62
  v63
  v64 r148
  v65 r90
  v66 r112
  v67
  v68
  v69
  v70
  v71 r102
  v72
  v73 r114
  v74
  v75
  v76 r117
  v77 r170
  v78 r186
  v79 r158
  v80 r104
  v81 r110
  v82 r175
  v83
  v84
  v85
  v86 r178
  v87 r185
  v88 r135
  v89
  v90
  v91 r120
  v92 r180
  v93 r130
  v94
  v95
  v96
  v97 r143
  v98
  v99
  v100 r92
  v101 r95
  v102 r169
  v103 r171
  v104 r100
  v105 r181
  v106 r109
  v107 r163
  v108 r161
  v109 r165
  v110
  v111 r177
  v112
  v113 r176
  v114 r94
  v115 r116
  v116
  v117
  v118
  v119 r136
  v120 r173
  v121
  v122 r139
  v123
  v124 r132
  v125
  v126 r164
  v127
  v128
  v129 r137
  v130
  v131
  v132 r179
  v133
  v134 r122
  v135
  v136
  v137
  v138 r101
  v139
  v140
  v141
  v142
  v143 r103
  v144
  v145
  v146 r154
  v147
  v148 r152
  v149
  v150
  v151
  v152 r93
  v153
  v154 r128
  v155
  v156
  v157 r124
  v158
  v159 r125
  v160
  v161
  v162 r133
  v163 r160
  v164 r167
  v165 r129
  v166
  v167 r142
  v168 r182
  v169
  v170
  v171 r172
  v172 r111
  v173 r98
  v174 r115
  v175
  v176 r108
  v177
  v178
  v179 r134
  v180
  v181 r162
  v182 r105
  v183 r131
  v184
  v185
  v186
  v187
 )
 (:init
  (at r147 v0)
  (at r106 v1)
  (free v2)
  (at r138 v3)
  (free v4)
  (at r91 v5)
  (at r183 v6)
  (at r140 v7)
  (free v8)
  (free v9)
  (at r146 v10)
  (free v11)
  (at r127 v12)
  (at r166 v13)
  (free v14)
  (free v15)
  (at r151 v16)
  (at r168 v17)
  (free v18)
  (at r155 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r159 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r96 v27)
  (at r174 v28)
  (at r123 v29)
  (free v30)
  (at r144 v31)
  (at r97 v32)
  (free v33)
  (at r149 v34)
  (free v35)
  (at r107 v36)
  (free v37)
  (free v38)
  (at r119 v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r126 v44)
  (at r150 v45)
  (at r184 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r118 v50)
  (at r121 v51)
  (at r141 v52)
  (at r99 v53)
  (at r156 v54)
  (free v55)
  (at r145 v56)
  (at r153 v57)
  (at r157 v58)
  (free v59)
  (at r113 v60)
  (at r187 v61)
  (free v62)
  (free v63)
  (at r148 v64)
  (at r90 v65)
  (at r112 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r102 v71)
  (free v72)
  (at r114 v73)
  (free v74)
  (free v75)
  (at r117 v76)
  (at r170 v77)
  (at r186 v78)
  (at r158 v79)
  (at r104 v80)
  (at r110 v81)
  (at r175 v82)
  (free v83)
  (free v84)
  (free v85)
  (at r178 v86)
  (at r185 v87)
  (at r135 v88)
  (free v89)
  (free v90)
  (at r120 v91)
  (at r180 v92)
  (at r130 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r143 v97)
  (free v98)
  (free v99)
  (at r92 v100)
  (at r95 v101)
  (at r169 v102)
  (at r171 v103)
  (at r100 v104)
  (at r181 v105)
  (at r109 v106)
  (at r163 v107)
  (at r161 v108)
  (at r165 v109)
  (free v110)
  (at r177 v111)
  (free v112)
  (at r176 v113)
  (at r94 v114)
  (at r116 v115)
  (free v116)
  (free v117)
  (free v118)
  (at r136 v119)
  (at r173 v120)
  (free v121)
  (at r139 v122)
  (free v123)
  (at r132 v124)
  (free v125)
  (at r164 v126)
  (free v127)
  (free v128)
  (at r137 v129)
  (free v130)
  (free v131)
  (at r179 v132)
  (free v133)
  (at r122 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r101 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r103 v143)
  (free v144)
  (free v145)
  (at r154 v146)
  (free v147)
  (at r152 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r93 v152)
  (free v153)
  (at r128 v154)
  (free v155)
  (free v156)
  (at r124 v157)
  (free v158)
  (at r125 v159)
  (free v160)
  (free v161)
  (at r133 v162)
  (at r160 v163)
  (at r167 v164)
  (at r129 v165)
  (free v166)
  (at r142 v167)
  (at r182 v168)
  (free v169)
  (free v170)
  (at r172 v171)
  (at r111 v172)
  (at r98 v173)
  (at r115 v174)
  (free v175)
  (at r108 v176)
  (free v177)
  (free v178)
  (at r134 v179)
  (free v180)
  (at r162 v181)
  (at r105 v182)
  (at r131 v183)
  (free v184)
  (free v185)
  (free v186)
  (free v187)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v29)
  (adjacent v0 v138)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v69)
  (adjacent v1 v101)
  (adjacent v1 v126)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v16)
  (adjacent v3 v67)
  (adjacent v3 v102)
  (adjacent v4 v5)
  (adjacent v4 v6)
  (adjacent v5 v22)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v6 v36)
  (adjacent v7 v8)
  (adjacent v7 v30)
  (adjacent v7 v51)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v43)
  (adjacent v9 v10)
  (adjacent v9 v153)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v66)
  (adjacent v10 v160)
  (adjacent v11 v61)
  (adjacent v11 v86)
  (adjacent v11 v174)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v76)
  (adjacent v14 v15)
  (adjacent v14 v20)
  (adjacent v14 v42)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v17 v18)
  (adjacent v17 v23)
  (adjacent v17 v75)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v68)
  (adjacent v19 v187)
  (adjacent v20 v80)
  (adjacent v20 v120)
  (adjacent v20 v133)
  (adjacent v21 v22)
  (adjacent v22 v60)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v46)
  (adjacent v24 v170)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v173)
  (adjacent v28 v29)
  (adjacent v28 v37)
  (adjacent v30 v31)
  (adjacent v30 v54)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v101)
  (adjacent v33 v34)
  (adjacent v33 v121)
  (adjacent v34 v35)
  (adjacent v34 v112)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v37 v89)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v159)
  (adjacent v41 v42)
  (adjacent v41 v53)
  (adjacent v42 v169)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v91)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v52)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v85)
  (adjacent v50 v51)
  (adjacent v51 v111)
  (adjacent v51 v151)
  (adjacent v52 v53)
  (adjacent v52 v178)
  (adjacent v54 v55)
  (adjacent v54 v177)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v67)
  (adjacent v56 v79)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v164)
  (adjacent v59 v181)
  (adjacent v61 v62)
  (adjacent v61 v70)
  (adjacent v61 v125)
  (adjacent v62 v63)
  (adjacent v62 v110)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v88)
  (adjacent v65 v113)
  (adjacent v65 v139)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v76 v92)
  (adjacent v76 v146)
  (adjacent v77 v78)
  (adjacent v77 v95)
  (adjacent v78 v79)
  (adjacent v79 v99)
  (adjacent v79 v145)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v111)
  (adjacent v84 v85)
  (adjacent v84 v100)
  (adjacent v84 v152)
  (adjacent v86 v87)
  (adjacent v86 v96)
  (adjacent v86 v114)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v106)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v96 v152)
  (adjacent v97 v98)
  (adjacent v97 v100)
  (adjacent v98 v99)
  (adjacent v98 v107)
  (adjacent v102 v103)
  (adjacent v102 v132)
  (adjacent v103 v104)
  (adjacent v103 v168)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (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 v134)
  (adjacent v134 v135)
  (adjacent v134 v169)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v163)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v156 v180)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r101 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r181 v7)
  (at r155 v8)
  (free v9)
  (at r164 v10)
  (free v11)
  (free v12)
  (at r184 v13)
  (at r122 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r106 v18)
  (at r134 v19)
  (at r172 v20)
  (free v21)
  (free v22)
  (at r143 v23)
  (free v24)
  (free v25)
  (at r92 v26)
  (at r146 v27)
  (free v28)
  (free v29)
  (at r135 v30)
  (at r145 v31)
  (at r161 v32)
  (at r182 v33)
  (at r120 v34)
  (at r186 v35)
  (at r116 v36)
  (at r124 v37)
  (at r95 v38)
  (at r185 v39)
  (at r141 v40)
  (at r111 v41)
  (at r93 v42)
  (at r150 v43)
  (at r176 v44)
  (free v45)
  (free v46)
  (at r104 v47)
  (free v48)
  (free v49)
  (at r179 v50)
  (free v51)
  (at r170 v52)
  (free v53)
  (at r105 v54)
  (at r94 v55)
  (at r166 v56)
  (at r98 v57)
  (free v58)
  (at r112 v59)
  (at r183 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r139 v65)
  (at r113 v66)
  (free v67)
  (free v68)
  (at r165 v69)
  (at r132 v70)
  (at r109 v71)
  (at r168 v72)
  (at r121 v73)
  (at r100 v74)
  (free v75)
  (at r142 v76)
  (at r125 v77)
  (free v78)
  (free v79)
  (at r173 v80)
  (at r131 v81)
  (free v82)
  (at r126 v83)
  (free v84)
  (at r156 v85)
  (free v86)
  (free v87)
  (at r97 v88)
  (at r152 v89)
  (free v90)
  (at r138 v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (at r123 v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (at r151 v104)
  (at r136 v105)
  (at r171 v106)
  (free v107)
  (at r144 v108)
  (at r115 v109)
  (free v110)
  (at r140 v111)
  (at r158 v112)
  (at r157 v113)
  (at r147 v114)
  (free v115)
  (at r174 v116)
  (at r117 v117)
  (at r178 v118)
  (free v119)
  (free v120)
  (at r154 v121)
  (at r91 v122)
  (free v123)
  (free v124)
  (at r114 v125)
  (at r153 v126)
  (at r163 v127)
  (free v128)
  (free v129)
  (free v130)
  (at r99 v131)
  (at r187 v132)
  (free v133)
  (at r162 v134)
  (free v135)
  (at r110 v136)
  (free v137)
  (at r175 v138)
  (free v139)
  (free v140)
  (at r119 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r90 v145)
  (free v146)
  (at r103 v147)
  (at r130 v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (at r133 v154)
  (free v155)
  (free v156)
  (at r160 v157)
  (at r180 v158)
  (free v159)
  (free v160)
  (at r129 v161)
  (at r149 v162)
  (free v163)
  (at r118 v164)
  (free v165)
  (at r127 v166)
  (at r137 v167)
  (at r167 v168)
  (free v169)
  (free v170)
  (free v171)
  (at r107 v172)
  (at r102 v173)
  (free v174)
  (at r177 v175)
  (free v176)
  (free v177)
  (at r96 v178)
  (at r108 v179)
  (at r169 v180)
  (free v181)
  (at r128 v182)
  (free v183)
  (at r148 v184)
  (at r159 v185)
  (free v186)
  (free v187)
  )
 )
)