(define (problem multirobot_51_50%_c9)
 (:domain multirobot)
 (:objects
  v0 r147
  v1 r151
  v2 r121
  v3
  v4 r155
  v5 r134
  v6 r154
  v7
  v8
  v9
  v10
  v11 r128
  v12
  v13 r109
  v14 r103
  v15 r166
  v16 r140
  v17
  v18 r91
  v19
  v20
  v21
  v22
  v23 r137
  v24 r156
  v25
  v26 r105
  v27
  v28
  v29 r149
  v30 r159
  v31 r124
  v32
  v33 r158
  v34 r96
  v35
  v36 r178
  v37 r153
  v38
  v39 r182
  v40 r120
  v41 r172
  v42
  v43 r123
  v44 r108
  v45 r177
  v46
  v47
  v48 r184
  v49
  v50
  v51 r164
  v52 r171
  v53
  v54 r163
  v55
  v56 r179
  v57 r113
  v58 r175
  v59
  v60 r83
  v61 r174
  v62
  v63
  v64 r106
  v65
  v66
  v67
  v68 r111
  v69
  v70
  v71 r139
  v72 r101
  v73
  v74
  v75
  v76 r98
  v77 r176
  v78
  v79
  v80 r122
  v81 r130
  v82 r152
  v83
  v84
  v85
  v86 r129
  v87 r100
  v88
  v89 r133
  v90 r157
  v91
  v92 r110
  v93
  v94
  v95 r115
  v96
  v97 r90
  v98
  v99 r181
  v100
  v101
  v102 r117
  v103 r126
  v104 r132
  v105 r138
  v106 r118
  v107 r116
  v108 r127
  v109
  v110 r144
  v111
  v112
  v113 r92
  v114 r135
  v115
  v116 r107
  v117
  v118
  v119
  v120 r119
  v121 r87
  v122 r141
  v123 r167
  v124
  v125 r173
  v126 r112
  v127
  v128
  v129 r131
  v130 r160
  v131
  v132
  v133
  v134
  v135
  v136
  v137 r104
  v138 r93
  v139 r143
  v140 r180
  v141
  v142 r161
  v143
  v144
  v145 r136
  v146 r102
  v147
  v148
  v149 r97
  v150 r114
  v151 r168
  v152 r150
  v153
  v154 r148
  v155 r142
  v156
  v157 r85
  v158 r183
  v159
  v160 r89
  v161 r170
  v162
  v163 r125
  v164
  v165 r88
  v166
  v167 r99
  v168
  v169 r162
  v170
  v171 r86
  v172 r185
  v173 r165
  v174 r146
  v175 r145
  v176 r84
  v177
  v178 r95
  v179
  v180 r169
  v181
  v182 r94
  v183
  v184
  v185
 )
 (:init
  (at r147 v0)
  (at r151 v1)
  (at r121 v2)
  (free v3)
  (at r155 v4)
  (at r134 v5)
  (at r154 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r128 v11)
  (free v12)
  (at r109 v13)
  (at r103 v14)
  (at r166 v15)
  (at r140 v16)
  (free v17)
  (at r91 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r137 v23)
  (at r156 v24)
  (free v25)
  (at r105 v26)
  (free v27)
  (free v28)
  (at r149 v29)
  (at r159 v30)
  (at r124 v31)
  (free v32)
  (at r158 v33)
  (at r96 v34)
  (free v35)
  (at r178 v36)
  (at r153 v37)
  (free v38)
  (at r182 v39)
  (at r120 v40)
  (at r172 v41)
  (free v42)
  (at r123 v43)
  (at r108 v44)
  (at r177 v45)
  (free v46)
  (free v47)
  (at r184 v48)
  (free v49)
  (free v50)
  (at r164 v51)
  (at r171 v52)
  (free v53)
  (at r163 v54)
  (free v55)
  (at r179 v56)
  (at r113 v57)
  (at r175 v58)
  (free v59)
  (at r83 v60)
  (at r174 v61)
  (free v62)
  (free v63)
  (at r106 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r111 v68)
  (free v69)
  (free v70)
  (at r139 v71)
  (at r101 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r98 v76)
  (at r176 v77)
  (free v78)
  (free v79)
  (at r122 v80)
  (at r130 v81)
  (at r152 v82)
  (free v83)
  (free v84)
  (free v85)
  (at r129 v86)
  (at r100 v87)
  (free v88)
  (at r133 v89)
  (at r157 v90)
  (free v91)
  (at r110 v92)
  (free v93)
  (free v94)
  (at r115 v95)
  (free v96)
  (at r90 v97)
  (free v98)
  (at r181 v99)
  (free v100)
  (free v101)
  (at r117 v102)
  (at r126 v103)
  (at r132 v104)
  (at r138 v105)
  (at r118 v106)
  (at r116 v107)
  (at r127 v108)
  (free v109)
  (at r144 v110)
  (free v111)
  (free v112)
  (at r92 v113)
  (at r135 v114)
  (free v115)
  (at r107 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r119 v120)
  (at r87 v121)
  (at r141 v122)
  (at r167 v123)
  (free v124)
  (at r173 v125)
  (at r112 v126)
  (free v127)
  (free v128)
  (at r131 v129)
  (at r160 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r104 v137)
  (at r93 v138)
  (at r143 v139)
  (at r180 v140)
  (free v141)
  (at r161 v142)
  (free v143)
  (free v144)
  (at r136 v145)
  (at r102 v146)
  (free v147)
  (free v148)
  (at r97 v149)
  (at r114 v150)
  (at r168 v151)
  (at r150 v152)
  (free v153)
  (at r148 v154)
  (at r142 v155)
  (free v156)
  (at r85 v157)
  (at r183 v158)
  (free v159)
  (at r89 v160)
  (at r170 v161)
  (free v162)
  (at r125 v163)
  (free v164)
  (at r88 v165)
  (free v166)
  (at r99 v167)
  (free v168)
  (at r162 v169)
  (free v170)
  (at r86 v171)
  (at r185 v172)
  (at r165 v173)
  (at r146 v174)
  (at r145 v175)
  (at r84 v176)
  (free v177)
  (at r95 v178)
  (free v179)
  (at r169 v180)
  (free v181)
  (at r94 v182)
  (free v183)
  (free v184)
  (free v185)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v17)
  (adjacent v0 v30)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v64)
  (adjacent v1 v124)
  (adjacent v2 v3)
  (adjacent v2 v18)
  (adjacent v2 v123)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v24)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v21)
  (adjacent v5 v125)
  (adjacent v5 v146)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v153)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v35)
  (adjacent v9 v52)
  (adjacent v9 v185)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v40)
  (adjacent v11 v89)
  (adjacent v11 v104)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v44)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v15 v16)
  (adjacent v15 v31)
  (adjacent v15 v50)
  (adjacent v16 v17)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v19 v20)
  (adjacent v19 v29)
  (adjacent v19 v105)
  (adjacent v20 v21)
  (adjacent v20 v57)
  (adjacent v21 v46)
  (adjacent v21 v84)
  (adjacent v22 v23)
  (adjacent v22 v160)
  (adjacent v23 v34)
  (adjacent v24 v25)
  (adjacent v24 v67)
  (adjacent v24 v173)
  (adjacent v25 v26)
  (adjacent v25 v54)
  (adjacent v26 v27)
  (adjacent v26 v55)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v66)
  (adjacent v30 v31)
  (adjacent v30 v74)
  (adjacent v31 v45)
  (adjacent v31 v73)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v39)
  (adjacent v34 v45)
  (adjacent v34 v112)
  (adjacent v34 v161)
  (adjacent v35 v36)
  (adjacent v35 v90)
  (adjacent v36 v37)
  (adjacent v36 v66)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v174)
  (adjacent v39 v176)
  (adjacent v40 v41)
  (adjacent v40 v75)
  (adjacent v41 v42)
  (adjacent v41 v51)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v65)
  (adjacent v45 v49)
  (adjacent v45 v63)
  (adjacent v46 v47)
  (adjacent v46 v58)
  (adjacent v46 v182)
  (adjacent v47 v48)
  (adjacent v47 v90)
  (adjacent v48 v49)
  (adjacent v48 v86)
  (adjacent v48 v122)
  (adjacent v48 v147)
  (adjacent v49 v134)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v78)
  (adjacent v52 v79)
  (adjacent v52 v93)
  (adjacent v53 v54)
  (adjacent v54 v64)
  (adjacent v54 v65)
  (adjacent v54 v85)
  (adjacent v55 v56)
  (adjacent v55 v105)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v130)
  (adjacent v58 v172)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v74)
  (adjacent v65 v83)
  (adjacent v65 v106)
  (adjacent v66 v92)
  (adjacent v66 v120)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v140)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v121)
  (adjacent v75 v76)
  (adjacent v75 v119)
  (adjacent v76 v77)
  (adjacent v76 v183)
  (adjacent v77 v78)
  (adjacent v77 v98)
  (adjacent v77 v167)
  (adjacent v78 v91)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v180)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v154)
  (adjacent v88 v89)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v113)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v99)
  (adjacent v99 v100)
  (adjacent v99 v175)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v124)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v163)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v123)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v131)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v120)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v139)
  (adjacent v119 v135)
  (adjacent v119 v184)
  (adjacent v121 v122)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v164)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v151 v179)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v168)
  (adjacent v159 v160)
  (adjacent v160 v175)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v175 v183)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (at r111 v0)
  (free v1)
  (free v2)
  (at r161 v3)
  (free v4)
  (at r127 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r170 v9)
  (free v10)
  (at r132 v11)
  (at r104 v12)
  (at r178 v13)
  (at r130 v14)
  (at r165 v15)
  (at r158 v16)
  (at r107 v17)
  (at r150 v18)
  (at r123 v19)
  (at r106 v20)
  (free v21)
  (at r153 v22)
  (free v23)
  (at r131 v24)
  (free v25)
  (free v26)
  (at r176 v27)
  (free v28)
  (at r98 v29)
  (at r184 v30)
  (at r174 v31)
  (free v32)
  (at r109 v33)
  (at r151 v34)
  (at r171 v35)
  (at r162 v36)
  (at r146 v37)
  (free v38)
  (at r181 v39)
  (free v40)
  (at r128 v41)
  (at r180 v42)
  (free v43)
  (at r110 v44)
  (free v45)
  (at r149 v46)
  (free v47)
  (at r114 v48)
  (free v49)
  (at r144 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r83 v55)
  (at r99 v56)
  (at r185 v57)
  (free v58)
  (at r100 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r102 v64)
  (at r159 v65)
  (free v66)
  (at r179 v67)
  (at r117 v68)
  (at r142 v69)
  (at r175 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r89 v75)
  (free v76)
  (at r118 v77)
  (at r137 v78)
  (at r163 v79)
  (free v80)
  (at r156 v81)
  (free v82)
  (at r154 v83)
  (at r136 v84)
  (at r94 v85)
  (at r103 v86)
  (at r119 v87)
  (at r160 v88)
  (free v89)
  (free v90)
  (at r167 v91)
  (free v92)
  (at r122 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r147 v98)
  (free v99)
  (at r138 v100)
  (free v101)
  (free v102)
  (at r92 v103)
  (free v104)
  (at r182 v105)
  (at r108 v106)
  (free v107)
  (free v108)
  (at r95 v109)
  (at r84 v110)
  (free v111)
  (at r133 v112)
  (at r140 v113)
  (at r91 v114)
  (at r125 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r87 v120)
  (at r105 v121)
  (at r97 v122)
  (at r177 v123)
  (at r173 v124)
  (free v125)
  (at r155 v126)
  (at r101 v127)
  (free v128)
  (at r86 v129)
  (free v130)
  (free v131)
  (at r143 v132)
  (at r166 v133)
  (free v134)
  (free v135)
  (free v136)
  (at r96 v137)
  (at r116 v138)
  (at r145 v139)
  (at r134 v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (at r85 v146)
  (at r168 v147)
  (free v148)
  (at r121 v149)
  (free v150)
  (at r88 v151)
  (free v152)
  (at r93 v153)
  (at r139 v154)
  (at r152 v155)
  (at r113 v156)
  (free v157)
  (free v158)
  (at r169 v159)
  (free v160)
  (at r112 v161)
  (at r126 v162)
  (at r90 v163)
  (free v164)
  (free v165)
  (at r120 v166)
  (free v167)
  (at r129 v168)
  (free v169)
  (at r141 v170)
  (free v171)
  (free v172)
  (free v173)
  (at r124 v174)
  (at r164 v175)
  (at r183 v176)
  (free v177)
  (at r115 v178)
  (free v179)
  (free v180)
  (at r148 v181)
  (at r172 v182)
  (at r157 v183)
  (free v184)
  (at r135 v185)
  )
 )
)