(define (problem multirobot_46_90%_c9)
 (:domain multirobot)
 (:objects
  v0 r162
  v1
  v2
  v3 r140
  v4
  v5
  v6
  v7 r115
  v8 r98
  v9
  v10 r171
  v11
  v12
  v13 r176
  v14
  v15
  v16 r86
  v17
  v18
  v19 r99
  v20
  v21
  v22
  v23
  v24 r105
  v25 r110
  v26
  v27
  v28 r135
  v29
  v30
  v31 r104
  v32
  v33
  v34 r121
  v35 r157
  v36 r122
  v37 r116
  v38 r175
  v39
  v40 r101
  v41
  v42
  v43 r149
  v44
  v45 r109
  v46 r173
  v47
  v48 r145
  v49 r151
  v50 r148
  v51
  v52 r128
  v53 r96
  v54
  v55
  v56 r112
  v57
  v58
  v59 r95
  v60
  v61
  v62 r92
  v63
  v64 r156
  v65
  v66 r142
  v67 r129
  v68
  v69
  v70 r165
  v71 r91
  v72 r123
  v73
  v74 r167
  v75
  v76 r163
  v77 r146
  v78 r100
  v79 r154
  v80
  v81 r169
  v82 r97
  v83
  v84 r130
  v85 r155
  v86 r103
  v87 r93
  v88
  v89
  v90 r137
  v91
  v92 r153
  v93
  v94 r144
  v95
  v96 r84
  v97
  v98 r170
  v99
  v100
  v101 r125
  v102
  v103 r124
  v104
  v105 r131
  v106
  v107
  v108 r106
  v109
  v110
  v111 r113
  v112
  v113
  v114
  v115
  v116
  v117
  v118 r89
  v119 r85
  v120
  v121 r172
  v122
  v123 r138
  v124 r164
  v125 r159
  v126 r94
  v127 r141
  v128 r139
  v129 r150
  v130 r127
  v131 r114
  v132
  v133 r107
  v134 r166
  v135
  v136 r87
  v137 r178
  v138 r160
  v139
  v140
  v141 r126
  v142 r177
  v143 r120
  v144 r111
  v145
  v146 r134
  v147
  v148
  v149 r118
  v150
  v151
  v152
  v153 r132
  v154
  v155 r90
  v156 r88
  v157 r117
  v158
  v159
  v160 r136
  v161 r152
  v162 r147
  v163 r168
  v164 r119
  v165 r108
  v166 r102
  v167 r158
  v168
  v169 r143
  v170 r174
  v171
  v172
  v173
  v174
  v175 r161
  v176
  v177
  v178 r133
 )
 (:init
  (at r162 v0)
  (free v1)
  (free v2)
  (at r140 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r115 v7)
  (at r98 v8)
  (free v9)
  (at r171 v10)
  (free v11)
  (free v12)
  (at r176 v13)
  (free v14)
  (free v15)
  (at r86 v16)
  (free v17)
  (free v18)
  (at r99 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r105 v24)
  (at r110 v25)
  (free v26)
  (free v27)
  (at r135 v28)
  (free v29)
  (free v30)
  (at r104 v31)
  (free v32)
  (free v33)
  (at r121 v34)
  (at r157 v35)
  (at r122 v36)
  (at r116 v37)
  (at r175 v38)
  (free v39)
  (at r101 v40)
  (free v41)
  (free v42)
  (at r149 v43)
  (free v44)
  (at r109 v45)
  (at r173 v46)
  (free v47)
  (at r145 v48)
  (at r151 v49)
  (at r148 v50)
  (free v51)
  (at r128 v52)
  (at r96 v53)
  (free v54)
  (free v55)
  (at r112 v56)
  (free v57)
  (free v58)
  (at r95 v59)
  (free v60)
  (free v61)
  (at r92 v62)
  (free v63)
  (at r156 v64)
  (free v65)
  (at r142 v66)
  (at r129 v67)
  (free v68)
  (free v69)
  (at r165 v70)
  (at r91 v71)
  (at r123 v72)
  (free v73)
  (at r167 v74)
  (free v75)
  (at r163 v76)
  (at r146 v77)
  (at r100 v78)
  (at r154 v79)
  (free v80)
  (at r169 v81)
  (at r97 v82)
  (free v83)
  (at r130 v84)
  (at r155 v85)
  (at r103 v86)
  (at r93 v87)
  (free v88)
  (free v89)
  (at r137 v90)
  (free v91)
  (at r153 v92)
  (free v93)
  (at r144 v94)
  (free v95)
  (at r84 v96)
  (free v97)
  (at r170 v98)
  (free v99)
  (free v100)
  (at r125 v101)
  (free v102)
  (at r124 v103)
  (free v104)
  (at r131 v105)
  (free v106)
  (free v107)
  (at r106 v108)
  (free v109)
  (free v110)
  (at r113 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r89 v118)
  (at r85 v119)
  (free v120)
  (at r172 v121)
  (free v122)
  (at r138 v123)
  (at r164 v124)
  (at r159 v125)
  (at r94 v126)
  (at r141 v127)
  (at r139 v128)
  (at r150 v129)
  (at r127 v130)
  (at r114 v131)
  (free v132)
  (at r107 v133)
  (at r166 v134)
  (free v135)
  (at r87 v136)
  (at r178 v137)
  (at r160 v138)
  (free v139)
  (free v140)
  (at r126 v141)
  (at r177 v142)
  (at r120 v143)
  (at r111 v144)
  (free v145)
  (at r134 v146)
  (free v147)
  (free v148)
  (at r118 v149)
  (free v150)
  (free v151)
  (free v152)
  (at r132 v153)
  (free v154)
  (at r90 v155)
  (at r88 v156)
  (at r117 v157)
  (free v158)
  (free v159)
  (at r136 v160)
  (at r152 v161)
  (at r147 v162)
  (at r168 v163)
  (at r119 v164)
  (at r108 v165)
  (at r102 v166)
  (at r158 v167)
  (free v168)
  (at r143 v169)
  (at r174 v170)
  (free v171)
  (free v172)
  (free v173)
  (free v174)
  (at r161 v175)
  (free v176)
  (free v177)
  (at r133 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v32)
  (adjacent v1 v70)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v44)
  (adjacent v2 v105)
  (adjacent v2 v138)
  (adjacent v3 v4)
  (adjacent v3 v169)
  (adjacent v4 v122)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v30)
  (adjacent v7 v37)
  (adjacent v7 v38)
  (adjacent v7 v78)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v31)
  (adjacent v9 v72)
  (adjacent v9 v74)
  (adjacent v10 v11)
  (adjacent v10 v49)
  (adjacent v11 v18)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v57)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v19)
  (adjacent v17 v26)
  (adjacent v18 v25)
  (adjacent v18 v26)
  (adjacent v19 v20)
  (adjacent v19 v136)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v88)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v22 v99)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v97)
  (adjacent v26 v27)
  (adjacent v26 v81)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v29 v62)
  (adjacent v30 v79)
  (adjacent v31 v50)
  (adjacent v31 v166)
  (adjacent v32 v33)
  (adjacent v32 v137)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v43)
  (adjacent v34 v121)
  (adjacent v35 v36)
  (adjacent v35 v56)
  (adjacent v35 v147)
  (adjacent v36 v37)
  (adjacent v36 v82)
  (adjacent v37 v171)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v63)
  (adjacent v49 v128)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v69)
  (adjacent v51 v90)
  (adjacent v51 v92)
  (adjacent v52 v53)
  (adjacent v52 v111)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v117)
  (adjacent v55 v56)
  (adjacent v55 v80)
  (adjacent v55 v96)
  (adjacent v57 v58)
  (adjacent v57 v93)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v116)
  (adjacent v59 v158)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v77)
  (adjacent v62 v146)
  (adjacent v62 v152)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v92)
  (adjacent v65 v168)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v107)
  (adjacent v68 v69)
  (adjacent v69 v89)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v104)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v106)
  (adjacent v77 v89)
  (adjacent v78 v79)
  (adjacent v78 v131)
  (adjacent v80 v81)
  (adjacent v80 v173)
  (adjacent v82 v83)
  (adjacent v82 v94)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v93)
  (adjacent v88 v91)
  (adjacent v88 v159)
  (adjacent v89 v98)
  (adjacent v89 v127)
  (adjacent v90 v91)
  (adjacent v91 v170)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v110)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v178)
  (adjacent v103 v104)
  (adjacent v104 v169)
  (adjacent v105 v106)
  (adjacent v106 v140)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v148)
  (adjacent v110 v135)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v130)
  (adjacent v118 v151)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v172)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v141)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v165)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v138 v147)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v170)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (at r102 v3)
  (free v4)
  (at r178 v5)
  (free v6)
  (at r177 v7)
  (free v8)
  (free v9)
  (at r149 v10)
  (at r154 v11)
  (at r101 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r105 v20)
  (at r116 v21)
  (at r156 v22)
  (at r94 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r119 v28)
  (at r98 v29)
  (free v30)
  (free v31)
  (at r96 v32)
  (at r114 v33)
  (at r140 v34)
  (free v35)
  (free v36)
  (at r159 v37)
  (free v38)
  (free v39)
  (at r135 v40)
  (at r131 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r145 v47)
  (free v48)
  (free v49)
  (at r93 v50)
  (free v51)
  (at r129 v52)
  (at r138 v53)
  (at r124 v54)
  (at r90 v55)
  (at r169 v56)
  (free v57)
  (free v58)
  (at r155 v59)
  (at r133 v60)
  (free v61)
  (at r85 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (at r171 v67)
  (at r142 v68)
  (at r157 v69)
  (at r111 v70)
  (at r112 v71)
  (at r176 v72)
  (free v73)
  (at r161 v74)
  (free v75)
  (at r108 v76)
  (free v77)
  (free v78)
  (at r150 v79)
  (free v80)
  (at r137 v81)
  (at r122 v82)
  (at r141 v83)
  (free v84)
  (at r170 v85)
  (free v86)
  (free v87)
  (at r125 v88)
  (at r99 v89)
  (at r168 v90)
  (free v91)
  (free v92)
  (at r153 v93)
  (free v94)
  (at r165 v95)
  (at r92 v96)
  (free v97)
  (free v98)
  (at r151 v99)
  (at r152 v100)
  (at r132 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r107 v106)
  (at r164 v107)
  (at r97 v108)
  (at r91 v109)
  (free v110)
  (at r89 v111)
  (at r117 v112)
  (at r88 v113)
  (free v114)
  (free v115)
  (free v116)
  (at r126 v117)
  (at r130 v118)
  (at r118 v119)
  (at r172 v120)
  (free v121)
  (at r158 v122)
  (at r109 v123)
  (at r86 v124)
  (at r174 v125)
  (free v126)
  (at r106 v127)
  (at r163 v128)
  (at r87 v129)
  (free v130)
  (at r84 v131)
  (free v132)
  (at r143 v133)
  (free v134)
  (at r100 v135)
  (at r123 v136)
  (free v137)
  (at r121 v138)
  (at r127 v139)
  (at r148 v140)
  (free v141)
  (at r173 v142)
  (free v143)
  (at r166 v144)
  (free v145)
  (at r160 v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (at r175 v152)
  (at r110 v153)
  (at r113 v154)
  (at r128 v155)
  (at r139 v156)
  (at r134 v157)
  (at r103 v158)
  (at r136 v159)
  (free v160)
  (at r147 v161)
  (at r167 v162)
  (free v163)
  (at r162 v164)
  (at r104 v165)
  (at r115 v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (free v171)
  (free v172)
  (at r144 v173)
  (at r95 v174)
  (at r120 v175)
  (at r146 v176)
  (free v177)
  (free v178)
  )
 )
)