(define (problem multirobot_44_90%_c8)
 (:domain multirobot)
 (:objects
  v0 r168
  v1 r111
  v2 r125
  v3
  v4 r109
  v5
  v6 r151
  v7
  v8 r128
  v9 r110
  v10
  v11 r117
  v12
  v13 r79
  v14
  v15
  v16
  v17
  v18 r157
  v19 r159
  v20 r120
  v21 r76
  v22
  v23 r152
  v24
  v25
  v26
  v27
  v28 r104
  v29 r122
  v30
  v31
  v32 r140
  v33 r150
  v34 r145
  v35 r170
  v36
  v37
  v38
  v39 r88
  v40 r92
  v41 r69
  v42 r71
  v43 r127
  v44 r72
  v45 r121
  v46 r81
  v47 r146
  v48
  v49
  v50 r95
  v51
  v52 r118
  v53
  v54
  v55
  v56
  v57 r124
  v58 r134
  v59 r160
  v60
  v61 r75
  v62
  v63 r85
  v64 r101
  v65
  v66 r165
  v67 r167
  v68 r143
  v69
  v70 r142
  v71 r80
  v72 r139
  v73 r138
  v74 r148
  v75 r172
  v76 r133
  v77
  v78 r73
  v79 r163
  v80 r67
  v81 r147
  v82 r166
  v83
  v84 r114
  v85 r135
  v86 r107
  v87 r162
  v88
  v89 r141
  v90 r115
  v91
  v92 r156
  v93 r119
  v94 r171
  v95
  v96 r126
  v97 r91
  v98 r103
  v99
  v100 r158
  v101
  v102 r137
  v103 r87
  v104 r86
  v105 r116
  v106 r144
  v107 r149
  v108 r105
  v109 r77
  v110
  v111
  v112 r131
  v113 r90
  v114
  v115 r82
  v116
  v117
  v118
  v119
  v120
  v121
  v122
  v123 r93
  v124 r100
  v125 r102
  v126 r98
  v127
  v128 r89
  v129 r84
  v130
  v131
  v132 r153
  v133
  v134 r94
  v135
  v136 r97
  v137 r99
  v138 r78
  v139
  v140 r155
  v141
  v142
  v143
  v144 r112
  v145 r154
  v146
  v147 r164
  v148
  v149
  v150 r113
  v151 r74
  v152 r123
  v153 r68
  v154 r169
  v155
  v156
  v157 r70
  v158 r96
  v159 r136
  v160 r129
  v161 r161
  v162
  v163 r132
  v164
  v165
  v166 r83
  v167 r108
  v168 r130
  v169
  v170
  v171 r106
  v172
 )
 (:init
  (at r168 v0)
  (at r111 v1)
  (at r125 v2)
  (free v3)
  (at r109 v4)
  (free v5)
  (at r151 v6)
  (free v7)
  (at r128 v8)
  (at r110 v9)
  (free v10)
  (at r117 v11)
  (free v12)
  (at r79 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r157 v18)
  (at r159 v19)
  (at r120 v20)
  (at r76 v21)
  (free v22)
  (at r152 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r104 v28)
  (at r122 v29)
  (free v30)
  (free v31)
  (at r140 v32)
  (at r150 v33)
  (at r145 v34)
  (at r170 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r88 v39)
  (at r92 v40)
  (at r69 v41)
  (at r71 v42)
  (at r127 v43)
  (at r72 v44)
  (at r121 v45)
  (at r81 v46)
  (at r146 v47)
  (free v48)
  (free v49)
  (at r95 v50)
  (free v51)
  (at r118 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r124 v57)
  (at r134 v58)
  (at r160 v59)
  (free v60)
  (at r75 v61)
  (free v62)
  (at r85 v63)
  (at r101 v64)
  (free v65)
  (at r165 v66)
  (at r167 v67)
  (at r143 v68)
  (free v69)
  (at r142 v70)
  (at r80 v71)
  (at r139 v72)
  (at r138 v73)
  (at r148 v74)
  (at r172 v75)
  (at r133 v76)
  (free v77)
  (at r73 v78)
  (at r163 v79)
  (at r67 v80)
  (at r147 v81)
  (at r166 v82)
  (free v83)
  (at r114 v84)
  (at r135 v85)
  (at r107 v86)
  (at r162 v87)
  (free v88)
  (at r141 v89)
  (at r115 v90)
  (free v91)
  (at r156 v92)
  (at r119 v93)
  (at r171 v94)
  (free v95)
  (at r126 v96)
  (at r91 v97)
  (at r103 v98)
  (free v99)
  (at r158 v100)
  (free v101)
  (at r137 v102)
  (at r87 v103)
  (at r86 v104)
  (at r116 v105)
  (at r144 v106)
  (at r149 v107)
  (at r105 v108)
  (at r77 v109)
  (free v110)
  (free v111)
  (at r131 v112)
  (at r90 v113)
  (free v114)
  (at r82 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r93 v123)
  (at r100 v124)
  (at r102 v125)
  (at r98 v126)
  (free v127)
  (at r89 v128)
  (at r84 v129)
  (free v130)
  (free v131)
  (at r153 v132)
  (free v133)
  (at r94 v134)
  (free v135)
  (at r97 v136)
  (at r99 v137)
  (at r78 v138)
  (free v139)
  (at r155 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r112 v144)
  (at r154 v145)
  (free v146)
  (at r164 v147)
  (free v148)
  (free v149)
  (at r113 v150)
  (at r74 v151)
  (at r123 v152)
  (at r68 v153)
  (at r169 v154)
  (free v155)
  (free v156)
  (at r70 v157)
  (at r96 v158)
  (at r136 v159)
  (at r129 v160)
  (at r161 v161)
  (free v162)
  (at r132 v163)
  (free v164)
  (free v165)
  (at r83 v166)
  (at r108 v167)
  (at r130 v168)
  (free v169)
  (free v170)
  (at r106 v171)
  (free v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v10)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v13)
  (adjacent v2 v27)
  (adjacent v2 v69)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v9)
  (adjacent v3 v20)
  (adjacent v5 v8)
  (adjacent v6 v7)
  (adjacent v6 v48)
  (adjacent v7 v19)
  (adjacent v8 v9)
  (adjacent v8 v33)
  (adjacent v9 v14)
  (adjacent v9 v26)
  (adjacent v9 v39)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v34)
  (adjacent v12 v73)
  (adjacent v13 v74)
  (adjacent v14 v15)
  (adjacent v14 v152)
  (adjacent v15 v16)
  (adjacent v15 v108)
  (adjacent v16 v17)
  (adjacent v16 v82)
  (adjacent v16 v87)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v114)
  (adjacent v20 v21)
  (adjacent v20 v76)
  (adjacent v20 v77)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v81)
  (adjacent v21 v143)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v86)
  (adjacent v24 v25)
  (adjacent v24 v48)
  (adjacent v24 v148)
  (adjacent v25 v26)
  (adjacent v26 v47)
  (adjacent v26 v60)
  (adjacent v26 v126)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v68)
  (adjacent v28 v102)
  (adjacent v29 v30)
  (adjacent v29 v52)
  (adjacent v29 v86)
  (adjacent v29 v134)
  (adjacent v30 v31)
  (adjacent v30 v78)
  (adjacent v30 v148)
  (adjacent v31 v32)
  (adjacent v31 v42)
  (adjacent v32 v33)
  (adjacent v32 v59)
  (adjacent v32 v121)
  (adjacent v34 v35)
  (adjacent v34 v165)
  (adjacent v35 v36)
  (adjacent v35 v41)
  (adjacent v35 v96)
  (adjacent v36 v37)
  (adjacent v36 v49)
  (adjacent v36 v76)
  (adjacent v36 v144)
  (adjacent v37 v38)
  (adjacent v37 v115)
  (adjacent v37 v164)
  (adjacent v38 v53)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v114)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v141)
  (adjacent v44 v45)
  (adjacent v44 v62)
  (adjacent v45 v46)
  (adjacent v45 v133)
  (adjacent v46 v47)
  (adjacent v46 v75)
  (adjacent v48 v127)
  (adjacent v48 v163)
  (adjacent v49 v50)
  (adjacent v49 v81)
  (adjacent v50 v51)
  (adjacent v50 v79)
  (adjacent v51 v52)
  (adjacent v51 v85)
  (adjacent v52 v63)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v72)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v122)
  (adjacent v57 v58)
  (adjacent v57 v73)
  (adjacent v58 v59)
  (adjacent v59 v94)
  (adjacent v60 v61)
  (adjacent v60 v80)
  (adjacent v61 v62)
  (adjacent v62 v153)
  (adjacent v63 v64)
  (adjacent v63 v115)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v149)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v95)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v93)
  (adjacent v84 v85)
  (adjacent v86 v107)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v101)
  (adjacent v89 v90)
  (adjacent v89 v157)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v116)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v113)
  (adjacent v105 v106)
  (adjacent v105 v172)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v169)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v162)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v147)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v140)
  (adjacent v132 v156)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v150 v168)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r80 v0)
  (free v1)
  (free v2)
  (at r83 v3)
  (free v4)
  (at r99 v5)
  (free v6)
  (free v7)
  (at r102 v8)
  (at r73 v9)
  (at r106 v10)
  (at r157 v11)
  (at r96 v12)
  (free v13)
  (free v14)
  (free v15)
  (at r112 v16)
  (at r107 v17)
  (free v18)
  (free v19)
  (at r86 v20)
  (free v21)
  (at r132 v22)
  (at r87 v23)
  (at r150 v24)
  (at r108 v25)
  (at r78 v26)
  (at r135 v27)
  (at r110 v28)
  (at r115 v29)
  (at r104 v30)
  (at r124 v31)
  (at r155 v32)
  (free v33)
  (free v34)
  (at r167 v35)
  (free v36)
  (at r79 v37)
  (free v38)
  (free v39)
  (at r121 v40)
  (at r93 v41)
  (at r161 v42)
  (at r67 v43)
  (free v44)
  (at r88 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r171 v50)
  (free v51)
  (free v52)
  (at r142 v53)
  (free v54)
  (at r95 v55)
  (at r120 v56)
  (at r70 v57)
  (at r130 v58)
  (at r153 v59)
  (at r145 v60)
  (free v61)
  (at r117 v62)
  (at r165 v63)
  (at r71 v64)
  (at r164 v65)
  (at r160 v66)
  (free v67)
  (free v68)
  (at r118 v69)
  (at r68 v70)
  (at r77 v71)
  (at r105 v72)
  (free v73)
  (at r146 v74)
  (free v75)
  (at r82 v76)
  (free v77)
  (at r123 v78)
  (at r163 v79)
  (at r143 v80)
  (free v81)
  (at r151 v82)
  (at r98 v83)
  (at r129 v84)
  (at r166 v85)
  (at r89 v86)
  (at r75 v87)
  (free v88)
  (at r137 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r92 v94)
  (at r172 v95)
  (free v96)
  (at r169 v97)
  (at r144 v98)
  (free v99)
  (free v100)
  (at r131 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r101 v106)
  (at r90 v107)
  (at r139 v108)
  (free v109)
  (free v110)
  (free v111)
  (at r76 v112)
  (free v113)
  (at r109 v114)
  (at r154 v115)
  (free v116)
  (free v117)
  (at r136 v118)
  (at r159 v119)
  (at r147 v120)
  (at r81 v121)
  (at r126 v122)
  (at r170 v123)
  (free v124)
  (at r119 v125)
  (free v126)
  (at r91 v127)
  (free v128)
  (at r74 v129)
  (at r72 v130)
  (at r84 v131)
  (at r85 v132)
  (at r128 v133)
  (at r138 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r113 v138)
  (at r168 v139)
  (at r127 v140)
  (at r97 v141)
  (at r125 v142)
  (at r133 v143)
  (at r152 v144)
  (free v145)
  (at r134 v146)
  (free v147)
  (free v148)
  (free v149)
  (at r122 v150)
  (at r111 v151)
  (at r69 v152)
  (free v153)
  (free v154)
  (at r140 v155)
  (at r114 v156)
  (free v157)
  (at r162 v158)
  (free v159)
  (at r149 v160)
  (free v161)
  (at r94 v162)
  (at r100 v163)
  (at r103 v164)
  (free v165)
  (at r116 v166)
  (at r141 v167)
  (at r148 v168)
  (at r156 v169)
  (free v170)
  (free v171)
  (at r158 v172)
  )
 )
)