(define (problem multirobot_51_90%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4 r145
  v5
  v6 r148
  v7 r137
  v8 r182
  v9
  v10
  v11
  v12
  v13 r127
  v14 r180
  v15 r183
  v16
  v17 r155
  v18 r156
  v19 r162
  v20
  v21
  v22 r176
  v23 r144
  v24 r101
  v25
  v26 r179
  v27
  v28 r116
  v29 r128
  v30 r135
  v31
  v32
  v33 r158
  v34 r177
  v35 r91
  v36 r181
  v37
  v38
  v39 r118
  v40 r97
  v41 r152
  v42
  v43
  v44 r153
  v45
  v46 r126
  v47 r125
  v48
  v49
  v50
  v51
  v52
  v53
  v54 r146
  v55 r174
  v56 r168
  v57 r167
  v58 r133
  v59
  v60
  v61
  v62
  v63 r138
  v64 r169
  v65 r175
  v66
  v67 r124
  v68
  v69 r106
  v70 r130
  v71 r102
  v72 r115
  v73
  v74 r122
  v75
  v76 r142
  v77 r163
  v78 r111
  v79
  v80
  v81 r166
  v82
  v83
  v84 r132
  v85 r139
  v86
  v87
  v88 r159
  v89
  v90
  v91
  v92 r136
  v93 r165
  v94
  v95 r114
  v96
  v97
  v98
  v99 r100
  v100 r147
  v101 r151
  v102 r131
  v103
  v104 r113
  v105
  v106
  v107
  v108 r178
  v109
  v110
  v111
  v112 r94
  v113 r129
  v114
  v115 r140
  v116 r119
  v117 r160
  v118
  v119 r172
  v120 r96
  v121 r112
  v122
  v123 r99
  v124 r150
  v125
  v126 r92
  v127
  v128 r157
  v129 r121
  v130 r173
  v131 r95
  v132
  v133 r154
  v134 r149
  v135 r103
  v136 r117
  v137 r105
  v138 r143
  v139 r109
  v140
  v141
  v142
  v143 r123
  v144
  v145
  v146
  v147
  v148 r141
  v149
  v150 r108
  v151 r98
  v152
  v153 r134
  v154
  v155
  v156
  v157
  v158 r171
  v159
  v160 r170
  v161
  v162
  v163
  v164 r110
  v165
  v166
  v167 r104
  v168 r161
  v169
  v170
  v171
  v172 r93
  v173
  v174
  v175
  v176
  v177 r164
  v178
  v179 r107
  v180
  v181
  v182 r120
  v183
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (at r145 v4)
  (free v5)
  (at r148 v6)
  (at r137 v7)
  (at r182 v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r127 v13)
  (at r180 v14)
  (at r183 v15)
  (free v16)
  (at r155 v17)
  (at r156 v18)
  (at r162 v19)
  (free v20)
  (free v21)
  (at r176 v22)
  (at r144 v23)
  (at r101 v24)
  (free v25)
  (at r179 v26)
  (free v27)
  (at r116 v28)
  (at r128 v29)
  (at r135 v30)
  (free v31)
  (free v32)
  (at r158 v33)
  (at r177 v34)
  (at r91 v35)
  (at r181 v36)
  (free v37)
  (free v38)
  (at r118 v39)
  (at r97 v40)
  (at r152 v41)
  (free v42)
  (free v43)
  (at r153 v44)
  (free v45)
  (at r126 v46)
  (at r125 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (at r146 v54)
  (at r174 v55)
  (at r168 v56)
  (at r167 v57)
  (at r133 v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r138 v63)
  (at r169 v64)
  (at r175 v65)
  (free v66)
  (at r124 v67)
  (free v68)
  (at r106 v69)
  (at r130 v70)
  (at r102 v71)
  (at r115 v72)
  (free v73)
  (at r122 v74)
  (free v75)
  (at r142 v76)
  (at r163 v77)
  (at r111 v78)
  (free v79)
  (free v80)
  (at r166 v81)
  (free v82)
  (free v83)
  (at r132 v84)
  (at r139 v85)
  (free v86)
  (free v87)
  (at r159 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r136 v92)
  (at r165 v93)
  (free v94)
  (at r114 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r100 v99)
  (at r147 v100)
  (at r151 v101)
  (at r131 v102)
  (free v103)
  (at r113 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r178 v108)
  (free v109)
  (free v110)
  (free v111)
  (at r94 v112)
  (at r129 v113)
  (free v114)
  (at r140 v115)
  (at r119 v116)
  (at r160 v117)
  (free v118)
  (at r172 v119)
  (at r96 v120)
  (at r112 v121)
  (free v122)
  (at r99 v123)
  (at r150 v124)
  (free v125)
  (at r92 v126)
  (free v127)
  (at r157 v128)
  (at r121 v129)
  (at r173 v130)
  (at r95 v131)
  (free v132)
  (at r154 v133)
  (at r149 v134)
  (at r103 v135)
  (at r117 v136)
  (at r105 v137)
  (at r143 v138)
  (at r109 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r123 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r141 v148)
  (free v149)
  (at r108 v150)
  (at r98 v151)
  (free v152)
  (at r134 v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (at r171 v158)
  (free v159)
  (at r170 v160)
  (free v161)
  (free v162)
  (free v163)
  (at r110 v164)
  (free v165)
  (free v166)
  (at r104 v167)
  (at r161 v168)
  (free v169)
  (free v170)
  (free v171)
  (at r93 v172)
  (free v173)
  (free v174)
  (free v175)
  (free v176)
  (at r164 v177)
  (free v178)
  (at r107 v179)
  (free v180)
  (free v181)
  (at r120 v182)
  (free v183)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v99)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v34)
  (adjacent v1 v44)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v15)
  (adjacent v2 v80)
  (adjacent v2 v174)
  (adjacent v3 v4)
  (adjacent v3 v14)
  (adjacent v3 v28)
  (adjacent v3 v29)
  (adjacent v3 v119)
  (adjacent v4 v9)
  (adjacent v4 v45)
  (adjacent v5 v6)
  (adjacent v5 v88)
  (adjacent v5 v136)
  (adjacent v6 v7)
  (adjacent v6 v27)
  (adjacent v6 v69)
  (adjacent v7 v8)
  (adjacent v8 v19)
  (adjacent v8 v20)
  (adjacent v8 v94)
  (adjacent v8 v169)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v68)
  (adjacent v11 v183)
  (adjacent v12 v13)
  (adjacent v12 v54)
  (adjacent v12 v62)
  (adjacent v12 v75)
  (adjacent v13 v14)
  (adjacent v14 v118)
  (adjacent v15 v16)
  (adjacent v15 v26)
  (adjacent v15 v55)
  (adjacent v16 v17)
  (adjacent v16 v130)
  (adjacent v17 v18)
  (adjacent v17 v43)
  (adjacent v17 v50)
  (adjacent v18 v19)
  (adjacent v18 v51)
  (adjacent v18 v106)
  (adjacent v18 v113)
  (adjacent v18 v140)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v28)
  (adjacent v22 v23)
  (adjacent v22 v60)
  (adjacent v23 v24)
  (adjacent v23 v165)
  (adjacent v24 v25)
  (adjacent v24 v36)
  (adjacent v25 v26)
  (adjacent v25 v35)
  (adjacent v26 v27)
  (adjacent v26 v63)
  (adjacent v26 v105)
  (adjacent v26 v138)
  (adjacent v27 v42)
  (adjacent v27 v46)
  (adjacent v27 v119)
  (adjacent v28 v41)
  (adjacent v28 v42)
  (adjacent v28 v62)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v123)
  (adjacent v34 v37)
  (adjacent v34 v162)
  (adjacent v34 v165)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v43)
  (adjacent v41 v122)
  (adjacent v44 v45)
  (adjacent v44 v61)
  (adjacent v45 v87)
  (adjacent v46 v47)
  (adjacent v46 v166)
  (adjacent v47 v48)
  (adjacent v47 v142)
  (adjacent v47 v143)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v125)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v61)
  (adjacent v56 v104)
  (adjacent v57 v58)
  (adjacent v57 v120)
  (adjacent v58 v59)
  (adjacent v58 v86)
  (adjacent v59 v60)
  (adjacent v61 v76)
  (adjacent v62 v175)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v85)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v112)
  (adjacent v69 v139)
  (adjacent v70 v71)
  (adjacent v70 v167)
  (adjacent v71 v72)
  (adjacent v71 v79)
  (adjacent v71 v153)
  (adjacent v72 v73)
  (adjacent v72 v146)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v95)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v152)
  (adjacent v82 v83)
  (adjacent v82 v164)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v105)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v121)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v113)
  (adjacent v95 v96)
  (adjacent v95 v143)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v100)
  (adjacent v99 v124)
  (adjacent v99 v137)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v114)
  (adjacent v103 v120)
  (adjacent v103 v161)
  (adjacent v106 v107)
  (adjacent v106 v159)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v131)
  (adjacent v111 v112)
  (adjacent v111 v144)
  (adjacent v113 v139)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v145)
  (adjacent v129 v170)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v177)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v168)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v144)
  (adjacent v141 v160)
  (adjacent v142 v147)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v176)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
 )
 (:goal
  (and
  (at r96 v0)
  (at r118 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r130 v5)
  (at r105 v6)
  (free v7)
  (free v8)
  (at r104 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r179 v16)
  (at r166 v17)
  (at r161 v18)
  (free v19)
  (at r149 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r127 v24)
  (at r108 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r117 v29)
  (at r151 v30)
  (free v31)
  (free v32)
  (at r125 v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (at r115 v38)
  (at r156 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r177 v43)
  (at r141 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r180 v51)
  (at r120 v52)
  (at r112 v53)
  (free v54)
  (at r100 v55)
  (at r113 v56)
  (at r123 v57)
  (free v58)
  (at r137 v59)
  (at r101 v60)
  (free v61)
  (at r162 v62)
  (at r93 v63)
  (at r97 v64)
  (at r146 v65)
  (at r119 v66)
  (at r144 v67)
  (at r158 v68)
  (at r145 v69)
  (at r121 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r116 v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (at r170 v80)
  (at r106 v81)
  (at r181 v82)
  (at r169 v83)
  (at r103 v84)
  (at r114 v85)
  (free v86)
  (at r95 v87)
  (at r98 v88)
  (free v89)
  (free v90)
  (at r139 v91)
  (at r133 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (at r94 v97)
  (free v98)
  (free v99)
  (free v100)
  (at r171 v101)
  (at r102 v102)
  (at r160 v103)
  (free v104)
  (at r92 v105)
  (free v106)
  (free v107)
  (at r129 v108)
  (at r126 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r107 v114)
  (at r176 v115)
  (at r135 v116)
  (free v117)
  (at r142 v118)
  (at r154 v119)
  (free v120)
  (at r109 v121)
  (at r99 v122)
  (free v123)
  (at r111 v124)
  (at r175 v125)
  (at r157 v126)
  (at r153 v127)
  (free v128)
  (at r134 v129)
  (at r152 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r143 v134)
  (free v135)
  (free v136)
  (at r122 v137)
  (at r178 v138)
  (free v139)
  (at r155 v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (at r182 v145)
  (at r138 v146)
  (free v147)
  (free v148)
  (at r174 v149)
  (at r124 v150)
  (free v151)
  (free v152)
  (at r150 v153)
  (at r172 v154)
  (at r163 v155)
  (at r148 v156)
  (at r168 v157)
  (free v158)
  (at r110 v159)
  (free v160)
  (at r128 v161)
  (at r165 v162)
  (at r147 v163)
  (at r132 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r140 v168)
  (free v169)
  (at r91 v170)
  (free v171)
  (free v172)
  (at r164 v173)
  (free v174)
  (free v175)
  (free v176)
  (at r131 v177)
  (at r159 v178)
  (free v179)
  (at r173 v180)
  (at r136 v181)
  (at r167 v182)
  (at r183 v183)
  )
 )
)