(define (problem multirobot_48_90%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r171
  v2 r127
  v3
  v4
  v5
  v6 r131
  v7
  v8
  v9 r114
  v10
  v11
  v12
  v13 r159
  v14 r97
  v15 r149
  v16
  v17 r121
  v18 r150
  v19 r175
  v20 r170
  v21
  v22 r168
  v23 r84
  v24 r160
  v25 r113
  v26 r106
  v27 r140
  v28
  v29
  v30 r110
  v31
  v32
  v33
  v34 r152
  v35 r141
  v36 r146
  v37 r107
  v38
  v39
  v40 r164
  v41 r136
  v42
  v43 r99
  v44 r139
  v45 r91
  v46 r101
  v47 r108
  v48
  v49 r119
  v50
  v51
  v52 r105
  v53 r153
  v54
  v55
  v56 r80
  v57 r118
  v58 r132
  v59
  v60 r98
  v61 r93
  v62 r94
  v63
  v64 r112
  v65
  v66
  v67 r87
  v68
  v69
  v70
  v71 r167
  v72 r157
  v73
  v74 r130
  v75
  v76 r128
  v77 r89
  v78
  v79
  v80
  v81
  v82
  v83
  v84
  v85
  v86
  v87
  v88
  v89
  v90
  v91 r147
  v92 r165
  v93 r148
  v94
  v95
  v96 r83
  v97 r79
  v98 r154
  v99
  v100 r163
  v101 r172
  v102 r155
  v103
  v104 r126
  v105 r125
  v106 r103
  v107 r81
  v108
  v109
  v110 r109
  v111 r134
  v112
  v113 r96
  v114 r135
  v115
  v116
  v117
  v118
  v119 r95
  v120
  v121
  v122 r85
  v123
  v124 r100
  v125
  v126
  v127
  v128 r88
  v129 r144
  v130 r78
  v131 r129
  v132
  v133
  v134
  v135
  v136 r90
  v137 r133
  v138 r162
  v139
  v140 r174
  v141 r176
  v142
  v143 r115
  v144
  v145 r158
  v146 r82
  v147 r104
  v148 r137
  v149 r124
  v150 r102
  v151 r86
  v152 r166
  v153 r138
  v154 r151
  v155 r161
  v156 r123
  v157 r142
  v158
  v159
  v160 r145
  v161 r116
  v162 r143
  v163 r169
  v164 r156
  v165 r120
  v166 r111
  v167
  v168 r173
  v169
  v170
  v171
  v172
  v173 r117
  v174
  v175 r92
  v176 r122
 )
 (:init
  (free v0)
  (at r171 v1)
  (at r127 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r131 v6)
  (free v7)
  (free v8)
  (at r114 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r159 v13)
  (at r97 v14)
  (at r149 v15)
  (free v16)
  (at r121 v17)
  (at r150 v18)
  (at r175 v19)
  (at r170 v20)
  (free v21)
  (at r168 v22)
  (at r84 v23)
  (at r160 v24)
  (at r113 v25)
  (at r106 v26)
  (at r140 v27)
  (free v28)
  (free v29)
  (at r110 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r152 v34)
  (at r141 v35)
  (at r146 v36)
  (at r107 v37)
  (free v38)
  (free v39)
  (at r164 v40)
  (at r136 v41)
  (free v42)
  (at r99 v43)
  (at r139 v44)
  (at r91 v45)
  (at r101 v46)
  (at r108 v47)
  (free v48)
  (at r119 v49)
  (free v50)
  (free v51)
  (at r105 v52)
  (at r153 v53)
  (free v54)
  (free v55)
  (at r80 v56)
  (at r118 v57)
  (at r132 v58)
  (free v59)
  (at r98 v60)
  (at r93 v61)
  (at r94 v62)
  (free v63)
  (at r112 v64)
  (free v65)
  (free v66)
  (at r87 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r167 v71)
  (at r157 v72)
  (free v73)
  (at r130 v74)
  (free v75)
  (at r128 v76)
  (at r89 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r147 v91)
  (at r165 v92)
  (at r148 v93)
  (free v94)
  (free v95)
  (at r83 v96)
  (at r79 v97)
  (at r154 v98)
  (free v99)
  (at r163 v100)
  (at r172 v101)
  (at r155 v102)
  (free v103)
  (at r126 v104)
  (at r125 v105)
  (at r103 v106)
  (at r81 v107)
  (free v108)
  (free v109)
  (at r109 v110)
  (at r134 v111)
  (free v112)
  (at r96 v113)
  (at r135 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r95 v119)
  (free v120)
  (free v121)
  (at r85 v122)
  (free v123)
  (at r100 v124)
  (free v125)
  (free v126)
  (free v127)
  (at r88 v128)
  (at r144 v129)
  (at r78 v130)
  (at r129 v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (at r90 v136)
  (at r133 v137)
  (at r162 v138)
  (free v139)
  (at r174 v140)
  (at r176 v141)
  (free v142)
  (at r115 v143)
  (free v144)
  (at r158 v145)
  (at r82 v146)
  (at r104 v147)
  (at r137 v148)
  (at r124 v149)
  (at r102 v150)
  (at r86 v151)
  (at r166 v152)
  (at r138 v153)
  (at r151 v154)
  (at r161 v155)
  (at r123 v156)
  (at r142 v157)
  (free v158)
  (free v159)
  (at r145 v160)
  (at r116 v161)
  (at r143 v162)
  (at r169 v163)
  (at r156 v164)
  (at r120 v165)
  (at r111 v166)
  (free v167)
  (at r173 v168)
  (free v169)
  (free v170)
  (free v171)
  (free v172)
  (at r117 v173)
  (free v174)
  (at r92 v175)
  (at r122 v176)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v18)
  (adjacent v0 v24)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v37)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v32)
  (adjacent v3 v4)
  (adjacent v3 v25)
  (adjacent v3 v170)
  (adjacent v4 v17)
  (adjacent v4 v38)
  (adjacent v4 v56)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v6 v7)
  (adjacent v6 v50)
  (adjacent v6 v146)
  (adjacent v7 v8)
  (adjacent v7 v104)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v37)
  (adjacent v8 v59)
  (adjacent v8 v99)
  (adjacent v8 v118)
  (adjacent v8 v144)
  (adjacent v8 v165)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v10 v31)
  (adjacent v11 v12)
  (adjacent v11 v32)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v36)
  (adjacent v13 v76)
  (adjacent v13 v138)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v15 v16)
  (adjacent v16 v26)
  (adjacent v16 v132)
  (adjacent v17 v18)
  (adjacent v17 v66)
  (adjacent v18 v128)
  (adjacent v19 v20)
  (adjacent v19 v67)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v160)
  (adjacent v22 v23)
  (adjacent v22 v105)
  (adjacent v23 v24)
  (adjacent v24 v106)
  (adjacent v25 v33)
  (adjacent v26 v27)
  (adjacent v26 v54)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v27 v68)
  (adjacent v28 v29)
  (adjacent v28 v72)
  (adjacent v28 v101)
  (adjacent v29 v30)
  (adjacent v29 v70)
  (adjacent v30 v31)
  (adjacent v30 v49)
  (adjacent v31 v43)
  (adjacent v31 v125)
  (adjacent v32 v69)
  (adjacent v32 v89)
  (adjacent v32 v118)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v34 v35)
  (adjacent v34 v55)
  (adjacent v34 v90)
  (adjacent v34 v95)
  (adjacent v35 v36)
  (adjacent v36 v114)
  (adjacent v36 v176)
  (adjacent v37 v45)
  (adjacent v38 v39)
  (adjacent v38 v170)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v55)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v94)
  (adjacent v48 v49)
  (adjacent v49 v78)
  (adjacent v50 v51)
  (adjacent v50 v109)
  (adjacent v51 v52)
  (adjacent v51 v139)
  (adjacent v52 v53)
  (adjacent v52 v82)
  (adjacent v53 v54)
  (adjacent v53 v157)
  (adjacent v54 v65)
  (adjacent v54 v83)
  (adjacent v54 v117)
  (adjacent v55 v58)
  (adjacent v55 v116)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v77)
  (adjacent v60 v129)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v156)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v100)
  (adjacent v66 v117)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v73)
  (adjacent v71 v72)
  (adjacent v72 v77)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v102)
  (adjacent v78 v79)
  (adjacent v78 v147)
  (adjacent v79 v80)
  (adjacent v79 v103)
  (adjacent v79 v149)
  (adjacent v80 v81)
  (adjacent v80 v171)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v148)
  (adjacent v87 v88)
  (adjacent v87 v110)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v113)
  (adjacent v92 v93)
  (adjacent v92 v126)
  (adjacent v93 v94)
  (adjacent v94 v119)
  (adjacent v95 v96)
  (adjacent v95 v149)
  (adjacent v96 v97)
  (adjacent v96 v169)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v166)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v143)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v162)
  (adjacent v119 v120)
  (adjacent v119 v131)
  (adjacent v120 v121)
  (adjacent v120 v161)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v159)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v150)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
 )
 (:goal
  (and
  (at r106 v0)
  (free v1)
  (at r97 v2)
  (at r92 v3)
  (at r162 v4)
  (at r114 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r118 v9)
  (free v10)
  (at r149 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r113 v15)
  (free v16)
  (free v17)
  (at r84 v18)
  (at r104 v19)
  (at r98 v20)
  (at r174 v21)
  (at r82 v22)
  (at r110 v23)
  (at r142 v24)
  (at r124 v25)
  (at r161 v26)
  (free v27)
  (at r83 v28)
  (at r132 v29)
  (free v30)
  (free v31)
  (at r121 v32)
  (free v33)
  (free v34)
  (at r103 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r109 v39)
  (free v40)
  (at r105 v41)
  (at r145 v42)
  (free v43)
  (at r135 v44)
  (at r100 v45)
  (at r134 v46)
  (free v47)
  (at r96 v48)
  (at r152 v49)
  (free v50)
  (free v51)
  (at r172 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r131 v56)
  (free v57)
  (free v58)
  (at r176 v59)
  (at r167 v60)
  (at r126 v61)
  (free v62)
  (at r169 v63)
  (at r151 v64)
  (at r153 v65)
  (at r154 v66)
  (at r101 v67)
  (at r102 v68)
  (free v69)
  (at r122 v70)
  (at r86 v71)
  (free v72)
  (at r147 v73)
  (free v74)
  (at r136 v75)
  (free v76)
  (at r160 v77)
  (at r171 v78)
  (at r112 v79)
  (at r81 v80)
  (at r144 v81)
  (at r170 v82)
  (at r123 v83)
  (at r120 v84)
  (at r107 v85)
  (free v86)
  (at r139 v87)
  (free v88)
  (free v89)
  (at r117 v90)
  (at r148 v91)
  (free v92)
  (at r155 v93)
  (at r125 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r87 v98)
  (free v99)
  (at r166 v100)
  (at r88 v101)
  (free v102)
  (at r143 v103)
  (at r156 v104)
  (at r111 v105)
  (at r116 v106)
  (at r175 v107)
  (free v108)
  (at r85 v109)
  (at r168 v110)
  (at r146 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r157 v115)
  (free v116)
  (at r91 v117)
  (free v118)
  (free v119)
  (at r140 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r95 v124)
  (free v125)
  (at r165 v126)
  (free v127)
  (at r94 v128)
  (at r115 v129)
  (at r158 v130)
  (at r173 v131)
  (at r159 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r128 v138)
  (free v139)
  (at r137 v140)
  (at r93 v141)
  (free v142)
  (at r163 v143)
  (free v144)
  (at r108 v145)
  (free v146)
  (at r141 v147)
  (at r80 v148)
  (at r164 v149)
  (free v150)
  (at r90 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (at r127 v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r130 v161)
  (free v162)
  (at r150 v163)
  (at r78 v164)
  (free v165)
  (at r79 v166)
  (at r138 v167)
  (free v168)
  (free v169)
  (at r99 v170)
  (at r133 v171)
  (at r129 v172)
  (free v173)
  (at r119 v174)
  (at r89 v175)
  (free v176)
  )
 )
)