(define (problem roverprob5127) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 rover1 rover2 rover3 rover4 rover5 rover6 rover7 - Rover
	rover0store rover1store rover2store rover3store rover4store rover5store rover6store rover7store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 waypoint4 waypoint5 waypoint6 waypoint7 waypoint8 waypoint9 waypoint10 waypoint11 waypoint12 waypoint13 waypoint14 waypoint15 waypoint16 waypoint17 waypoint18 waypoint19 waypoint20 waypoint21 waypoint22 waypoint23 waypoint24 waypoint25 waypoint26 waypoint27 waypoint28 waypoint29 - Waypoint
	camera0 camera1 camera2 camera3 camera4 camera5 camera6 camera7 camera8 camera9 camera10 camera11 - Camera
	objective0 objective1 objective2 objective3 objective4 objective5 objective6 objective7 objective8 objective9 - Objective
	)
(:init
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint4)
	(visible waypoint4 waypoint0)
	(visible waypoint0 waypoint10)
	(visible waypoint10 waypoint0)
	(visible waypoint0 waypoint17)
	(visible waypoint17 waypoint0)
	(visible waypoint0 waypoint21)
	(visible waypoint21 waypoint0)
	(visible waypoint0 waypoint23)
	(visible waypoint23 waypoint0)
	(visible waypoint0 waypoint28)
	(visible waypoint28 waypoint0)
	(visible waypoint1 waypoint15)
	(visible waypoint15 waypoint1)
	(visible waypoint1 waypoint17)
	(visible waypoint17 waypoint1)
	(visible waypoint1 waypoint24)
	(visible waypoint24 waypoint1)
	(visible waypoint1 waypoint25)
	(visible waypoint25 waypoint1)
	(visible waypoint2 waypoint13)
	(visible waypoint13 waypoint2)
	(visible waypoint2 waypoint24)
	(visible waypoint24 waypoint2)
	(visible waypoint3 waypoint5)
	(visible waypoint5 waypoint3)
	(visible waypoint3 waypoint6)
	(visible waypoint6 waypoint3)
	(visible waypoint3 waypoint8)
	(visible waypoint8 waypoint3)
	(visible waypoint3 waypoint10)
	(visible waypoint10 waypoint3)
	(visible waypoint3 waypoint11)
	(visible waypoint11 waypoint3)
	(visible waypoint3 waypoint15)
	(visible waypoint15 waypoint3)
	(visible waypoint3 waypoint25)
	(visible waypoint25 waypoint3)
	(visible waypoint4 waypoint3)
	(visible waypoint3 waypoint4)
	(visible waypoint4 waypoint6)
	(visible waypoint6 waypoint4)
	(visible waypoint4 waypoint17)
	(visible waypoint17 waypoint4)
	(visible waypoint4 waypoint19)
	(visible waypoint19 waypoint4)
	(visible waypoint4 waypoint20)
	(visible waypoint20 waypoint4)
	(visible waypoint4 waypoint26)
	(visible waypoint26 waypoint4)
	(visible waypoint4 waypoint29)
	(visible waypoint29 waypoint4)
	(visible waypoint5 waypoint16)
	(visible waypoint16 waypoint5)
	(visible waypoint5 waypoint20)
	(visible waypoint20 waypoint5)
	(visible waypoint5 waypoint22)
	(visible waypoint22 waypoint5)
	(visible waypoint5 waypoint27)
	(visible waypoint27 waypoint5)
	(visible waypoint6 waypoint16)
	(visible waypoint16 waypoint6)
	(visible waypoint7 waypoint1)
	(visible waypoint1 waypoint7)
	(visible waypoint7 waypoint17)
	(visible waypoint17 waypoint7)
	(visible waypoint7 waypoint21)
	(visible waypoint21 waypoint7)
	(visible waypoint8 waypoint2)
	(visible waypoint2 waypoint8)
	(visible waypoint8 waypoint27)
	(visible waypoint27 waypoint8)
	(visible waypoint9 waypoint1)
	(visible waypoint1 waypoint9)
	(visible waypoint9 waypoint14)
	(visible waypoint14 waypoint9)
	(visible waypoint9 waypoint22)
	(visible waypoint22 waypoint9)
	(visible waypoint9 waypoint25)
	(visible waypoint25 waypoint9)
	(visible waypoint10 waypoint11)
	(visible waypoint11 waypoint10)
	(visible waypoint10 waypoint12)
	(visible waypoint12 waypoint10)
	(visible waypoint10 waypoint18)
	(visible waypoint18 waypoint10)
	(visible waypoint10 waypoint24)
	(visible waypoint24 waypoint10)
	(visible waypoint10 waypoint28)
	(visible waypoint28 waypoint10)
	(visible waypoint10 waypoint29)
	(visible waypoint29 waypoint10)
	(visible waypoint11 waypoint1)
	(visible waypoint1 waypoint11)
	(visible waypoint11 waypoint9)
	(visible waypoint9 waypoint11)
	(visible waypoint11 waypoint17)
	(visible waypoint17 waypoint11)
	(visible waypoint11 waypoint24)
	(visible waypoint24 waypoint11)
	(visible waypoint12 waypoint9)
	(visible waypoint9 waypoint12)
	(visible waypoint12 waypoint11)
	(visible waypoint11 waypoint12)
	(visible waypoint12 waypoint16)
	(visible waypoint16 waypoint12)
	(visible waypoint12 waypoint21)
	(visible waypoint21 waypoint12)
	(visible waypoint12 waypoint26)
	(visible waypoint26 waypoint12)
	(visible waypoint13 waypoint17)
	(visible waypoint17 waypoint13)
	(visible waypoint13 waypoint21)
	(visible waypoint21 waypoint13)
	(visible waypoint13 waypoint24)
	(visible waypoint24 waypoint13)
	(visible waypoint14 waypoint0)
	(visible waypoint0 waypoint14)
	(visible waypoint14 waypoint7)
	(visible waypoint7 waypoint14)
	(visible waypoint14 waypoint10)
	(visible waypoint10 waypoint14)
	(visible waypoint14 waypoint11)
	(visible waypoint11 waypoint14)
	(visible waypoint14 waypoint15)
	(visible waypoint15 waypoint14)
	(visible waypoint14 waypoint20)
	(visible waypoint20 waypoint14)
	(visible waypoint14 waypoint22)
	(visible waypoint22 waypoint14)
	(visible waypoint14 waypoint23)
	(visible waypoint23 waypoint14)
	(visible waypoint15 waypoint16)
	(visible waypoint16 waypoint15)
	(visible waypoint15 waypoint25)
	(visible waypoint25 waypoint15)
	(visible waypoint16 waypoint8)
	(visible waypoint8 waypoint16)
	(visible waypoint16 waypoint20)
	(visible waypoint20 waypoint16)
	(visible waypoint17 waypoint5)
	(visible waypoint5 waypoint17)
	(visible waypoint17 waypoint9)
	(visible waypoint9 waypoint17)
	(visible waypoint17 waypoint22)
	(visible waypoint22 waypoint17)
	(visible waypoint17 waypoint27)
	(visible waypoint27 waypoint17)
	(visible waypoint17 waypoint28)
	(visible waypoint28 waypoint17)
	(visible waypoint18 waypoint8)
	(visible waypoint8 waypoint18)
	(visible waypoint18 waypoint22)
	(visible waypoint22 waypoint18)
	(visible waypoint18 waypoint28)
	(visible waypoint28 waypoint18)
	(visible waypoint19 waypoint0)
	(visible waypoint0 waypoint19)
	(visible waypoint19 waypoint1)
	(visible waypoint1 waypoint19)
	(visible waypoint19 waypoint10)
	(visible waypoint10 waypoint19)
	(visible waypoint19 waypoint12)
	(visible waypoint12 waypoint19)
	(visible waypoint19 waypoint20)
	(visible waypoint20 waypoint19)
	(visible waypoint19 waypoint25)
	(visible waypoint25 waypoint19)
	(visible waypoint20 waypoint0)
	(visible waypoint0 waypoint20)
	(visible waypoint20 waypoint6)
	(visible waypoint6 waypoint20)
	(visible waypoint20 waypoint9)
	(visible waypoint9 waypoint20)
	(visible waypoint20 waypoint11)
	(visible waypoint11 waypoint20)
	(visible waypoint20 waypoint26)
	(visible waypoint26 waypoint20)
	(visible waypoint21 waypoint4)
	(visible waypoint4 waypoint21)
	(visible waypoint21 waypoint6)
	(visible waypoint6 waypoint21)
	(visible waypoint22 waypoint7)
	(visible waypoint7 waypoint22)
	(visible waypoint22 waypoint16)
	(visible waypoint16 waypoint22)
	(visible waypoint22 waypoint19)
	(visible waypoint19 waypoint22)
	(visible waypoint23 waypoint9)
	(visible waypoint9 waypoint23)
	(visible waypoint23 waypoint15)
	(visible waypoint15 waypoint23)
	(visible waypoint23 waypoint29)
	(visible waypoint29 waypoint23)
	(visible waypoint24 waypoint6)
	(visible waypoint6 waypoint24)
	(visible waypoint24 waypoint7)
	(visible waypoint7 waypoint24)
	(visible waypoint25 waypoint16)
	(visible waypoint16 waypoint25)
	(visible waypoint25 waypoint18)
	(visible waypoint18 waypoint25)
	(visible waypoint25 waypoint22)
	(visible waypoint22 waypoint25)
	(visible waypoint25 waypoint24)
	(visible waypoint24 waypoint25)
	(visible waypoint26 waypoint5)
	(visible waypoint5 waypoint26)
	(visible waypoint26 waypoint13)
	(visible waypoint13 waypoint26)
	(visible waypoint26 waypoint15)
	(visible waypoint15 waypoint26)
	(visible waypoint26 waypoint18)
	(visible waypoint18 waypoint26)
	(visible waypoint26 waypoint21)
	(visible waypoint21 waypoint26)
	(visible waypoint26 waypoint29)
	(visible waypoint29 waypoint26)
	(visible waypoint27 waypoint9)
	(visible waypoint9 waypoint27)
	(visible waypoint27 waypoint13)
	(visible waypoint13 waypoint27)
	(visible waypoint27 waypoint20)
	(visible waypoint20 waypoint27)
	(visible waypoint27 waypoint25)
	(visible waypoint25 waypoint27)
	(visible waypoint28 waypoint2)
	(visible waypoint2 waypoint28)
	(visible waypoint28 waypoint7)
	(visible waypoint7 waypoint28)
	(visible waypoint28 waypoint11)
	(visible waypoint11 waypoint28)
	(visible waypoint28 waypoint19)
	(visible waypoint19 waypoint28)
	(visible waypoint28 waypoint24)
	(visible waypoint24 waypoint28)
	(visible waypoint29 waypoint9)
	(visible waypoint9 waypoint29)
	(visible waypoint29 waypoint14)
	(visible waypoint14 waypoint29)
	(visible waypoint29 waypoint17)
	(visible waypoint17 waypoint29)
	(visible waypoint29 waypoint24)
	(visible waypoint24 waypoint29)
	(= (recharges) 0)
	(at_soil_sample waypoint1)
	(at_rock_sample waypoint1)
	(at_soil_sample waypoint3)
	(at_rock_sample waypoint3)
	(at_soil_sample waypoint5)
	(at_rock_sample waypoint6)
	(at_rock_sample waypoint7)
	(in_sun waypoint7)
	(at_soil_sample waypoint8)
	(in_sun waypoint8)
	(at_soil_sample waypoint9)
	(at_rock_sample waypoint9)
	(at_soil_sample waypoint10)
	(at_rock_sample waypoint10)
	(at_soil_sample waypoint11)
	(at_rock_sample waypoint12)
	(at_soil_sample waypoint13)
	(in_sun waypoint13)
	(at_soil_sample waypoint14)
	(at_soil_sample waypoint15)
	(at_soil_sample waypoint17)
	(at_rock_sample waypoint17)
	(at_rock_sample waypoint20)
	(at_soil_sample waypoint21)
	(at_soil_sample waypoint22)
	(at_rock_sample waypoint22)
	(at_soil_sample waypoint23)
	(at_rock_sample waypoint23)
	(at_soil_sample waypoint24)
	(at_soil_sample waypoint25)
	(in_sun waypoint25)
	(at_soil_sample waypoint26)
	(at_rock_sample waypoint26)
	(in_sun waypoint26)
	(at_soil_sample waypoint28)
	(at_rock_sample waypoint28)
	(at_soil_sample waypoint29)
	(at_rock_sample waypoint29)
	(at_lander general waypoint26)
	(channel_free general)
	(= (energy rover0) 50)
	(at rover0 waypoint18)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(can_traverse rover0 waypoint18 waypoint8)
	(can_traverse rover0 waypoint8 waypoint18)
	(can_traverse rover0 waypoint18 waypoint10)
	(can_traverse rover0 waypoint10 waypoint18)
	(can_traverse rover0 waypoint18 waypoint22)
	(can_traverse rover0 waypoint22 waypoint18)
	(can_traverse rover0 waypoint8 waypoint2)
	(can_traverse rover0 waypoint2 waypoint8)
	(can_traverse rover0 waypoint8 waypoint3)
	(can_traverse rover0 waypoint3 waypoint8)
	(can_traverse rover0 waypoint8 waypoint16)
	(can_traverse rover0 waypoint16 waypoint8)
	(can_traverse rover0 waypoint10 waypoint11)
	(can_traverse rover0 waypoint11 waypoint10)
	(can_traverse rover0 waypoint10 waypoint12)
	(can_traverse rover0 waypoint12 waypoint10)
	(can_traverse rover0 waypoint10 waypoint14)
	(can_traverse rover0 waypoint14 waypoint10)
	(can_traverse rover0 waypoint10 waypoint24)
	(can_traverse rover0 waypoint24 waypoint10)
	(can_traverse rover0 waypoint10 waypoint28)
	(can_traverse rover0 waypoint28 waypoint10)
	(can_traverse rover0 waypoint10 waypoint29)
	(can_traverse rover0 waypoint29 waypoint10)
	(can_traverse rover0 waypoint22 waypoint5)
	(can_traverse rover0 waypoint5 waypoint22)
	(can_traverse rover0 waypoint22 waypoint7)
	(can_traverse rover0 waypoint7 waypoint22)
	(can_traverse rover0 waypoint2 waypoint13)
	(can_traverse rover0 waypoint13 waypoint2)
	(can_traverse rover0 waypoint3 waypoint6)
	(can_traverse rover0 waypoint6 waypoint3)
	(can_traverse rover0 waypoint3 waypoint15)
	(can_traverse rover0 waypoint15 waypoint3)
	(can_traverse rover0 waypoint3 waypoint25)
	(can_traverse rover0 waypoint25 waypoint3)
	(can_traverse rover0 waypoint16 waypoint20)
	(can_traverse rover0 waypoint20 waypoint16)
	(can_traverse rover0 waypoint11 waypoint1)
	(can_traverse rover0 waypoint1 waypoint11)
	(can_traverse rover0 waypoint11 waypoint9)
	(can_traverse rover0 waypoint9 waypoint11)
	(can_traverse rover0 waypoint12 waypoint19)
	(can_traverse rover0 waypoint19 waypoint12)
	(can_traverse rover0 waypoint12 waypoint21)
	(can_traverse rover0 waypoint21 waypoint12)
	(can_traverse rover0 waypoint12 waypoint26)
	(can_traverse rover0 waypoint26 waypoint12)
	(can_traverse rover0 waypoint14 waypoint23)
	(can_traverse rover0 waypoint23 waypoint14)
	(can_traverse rover0 waypoint28 waypoint0)
	(can_traverse rover0 waypoint0 waypoint28)
	(can_traverse rover0 waypoint29 waypoint4)
	(can_traverse rover0 waypoint4 waypoint29)
	(can_traverse rover0 waypoint29 waypoint17)
	(can_traverse rover0 waypoint17 waypoint29)
	(can_traverse rover0 waypoint5 waypoint27)
	(can_traverse rover0 waypoint27 waypoint5)
	(= (energy rover1) 50)
	(at rover1 waypoint5)
	(available rover1)
	(store_of rover1store rover1)
	(empty rover1store)
	(equipped_for_imaging rover1)
	(can_traverse rover1 waypoint5 waypoint3)
	(can_traverse rover1 waypoint3 waypoint5)
	(can_traverse rover1 waypoint5 waypoint20)
	(can_traverse rover1 waypoint20 waypoint5)
	(can_traverse rover1 waypoint5 waypoint22)
	(can_traverse rover1 waypoint22 waypoint5)
	(can_traverse rover1 waypoint5 waypoint26)
	(can_traverse rover1 waypoint26 waypoint5)
	(can_traverse rover1 waypoint5 waypoint27)
	(can_traverse rover1 waypoint27 waypoint5)
	(can_traverse rover1 waypoint3 waypoint4)
	(can_traverse rover1 waypoint4 waypoint3)
	(can_traverse rover1 waypoint3 waypoint6)
	(can_traverse rover1 waypoint6 waypoint3)
	(can_traverse rover1 waypoint3 waypoint8)
	(can_traverse rover1 waypoint8 waypoint3)
	(can_traverse rover1 waypoint3 waypoint15)
	(can_traverse rover1 waypoint15 waypoint3)
	(can_traverse rover1 waypoint3 waypoint25)
	(can_traverse rover1 waypoint25 waypoint3)
	(can_traverse rover1 waypoint20 waypoint0)
	(can_traverse rover1 waypoint0 waypoint20)
	(can_traverse rover1 waypoint20 waypoint11)
	(can_traverse rover1 waypoint11 waypoint20)
	(can_traverse rover1 waypoint20 waypoint16)
	(can_traverse rover1 waypoint16 waypoint20)
	(can_traverse rover1 waypoint22 waypoint17)
	(can_traverse rover1 waypoint17 waypoint22)
	(can_traverse rover1 waypoint22 waypoint18)
	(can_traverse rover1 waypoint18 waypoint22)
	(can_traverse rover1 waypoint22 waypoint19)
	(can_traverse rover1 waypoint19 waypoint22)
	(can_traverse rover1 waypoint26 waypoint21)
	(can_traverse rover1 waypoint21 waypoint26)
	(can_traverse rover1 waypoint26 waypoint29)
	(can_traverse rover1 waypoint29 waypoint26)
	(can_traverse rover1 waypoint27 waypoint9)
	(can_traverse rover1 waypoint9 waypoint27)
	(can_traverse rover1 waypoint6 waypoint24)
	(can_traverse rover1 waypoint24 waypoint6)
	(can_traverse rover1 waypoint15 waypoint1)
	(can_traverse rover1 waypoint1 waypoint15)
	(can_traverse rover1 waypoint15 waypoint14)
	(can_traverse rover1 waypoint14 waypoint15)
	(can_traverse rover1 waypoint15 waypoint23)
	(can_traverse rover1 waypoint23 waypoint15)
	(can_traverse rover1 waypoint0 waypoint10)
	(can_traverse rover1 waypoint10 waypoint0)
	(can_traverse rover1 waypoint11 waypoint12)
	(can_traverse rover1 waypoint12 waypoint11)
	(can_traverse rover1 waypoint11 waypoint28)
	(can_traverse rover1 waypoint28 waypoint11)
	(can_traverse rover1 waypoint17 waypoint13)
	(can_traverse rover1 waypoint13 waypoint17)
	(can_traverse rover1 waypoint21 waypoint7)
	(can_traverse rover1 waypoint7 waypoint21)
	(can_traverse rover1 waypoint24 waypoint2)
	(can_traverse rover1 waypoint2 waypoint24)
	(= (energy rover2) 50)
	(at rover2 waypoint17)
	(available rover2)
	(store_of rover2store rover2)
	(empty rover2store)
	(equipped_for_soil_analysis rover2)
	(equipped_for_imaging rover2)
	(can_traverse rover2 waypoint17 waypoint0)
	(can_traverse rover2 waypoint0 waypoint17)
	(can_traverse rover2 waypoint17 waypoint4)
	(can_traverse rover2 waypoint4 waypoint17)
	(can_traverse rover2 waypoint17 waypoint5)
	(can_traverse rover2 waypoint5 waypoint17)
	(can_traverse rover2 waypoint17 waypoint7)
	(can_traverse rover2 waypoint7 waypoint17)
	(can_traverse rover2 waypoint17 waypoint9)
	(can_traverse rover2 waypoint9 waypoint17)
	(can_traverse rover2 waypoint17 waypoint11)
	(can_traverse rover2 waypoint11 waypoint17)
	(can_traverse rover2 waypoint17 waypoint13)
	(can_traverse rover2 waypoint13 waypoint17)
	(can_traverse rover2 waypoint17 waypoint22)
	(can_traverse rover2 waypoint22 waypoint17)
	(can_traverse rover2 waypoint17 waypoint27)
	(can_traverse rover2 waypoint27 waypoint17)
	(can_traverse rover2 waypoint0 waypoint2)
	(can_traverse rover2 waypoint2 waypoint0)
	(can_traverse rover2 waypoint0 waypoint19)
	(can_traverse rover2 waypoint19 waypoint0)
	(can_traverse rover2 waypoint0 waypoint20)
	(can_traverse rover2 waypoint20 waypoint0)
	(can_traverse rover2 waypoint0 waypoint21)
	(can_traverse rover2 waypoint21 waypoint0)
	(can_traverse rover2 waypoint0 waypoint23)
	(can_traverse rover2 waypoint23 waypoint0)
	(can_traverse rover2 waypoint4 waypoint3)
	(can_traverse rover2 waypoint3 waypoint4)
	(can_traverse rover2 waypoint4 waypoint6)
	(can_traverse rover2 waypoint6 waypoint4)
	(can_traverse rover2 waypoint4 waypoint29)
	(can_traverse rover2 waypoint29 waypoint4)
	(can_traverse rover2 waypoint5 waypoint26)
	(can_traverse rover2 waypoint26 waypoint5)
	(can_traverse rover2 waypoint7 waypoint1)
	(can_traverse rover2 waypoint1 waypoint7)
	(can_traverse rover2 waypoint7 waypoint14)
	(can_traverse rover2 waypoint14 waypoint7)
	(can_traverse rover2 waypoint7 waypoint28)
	(can_traverse rover2 waypoint28 waypoint7)
	(can_traverse rover2 waypoint9 waypoint12)
	(can_traverse rover2 waypoint12 waypoint9)
	(can_traverse rover2 waypoint9 waypoint25)
	(can_traverse rover2 waypoint25 waypoint9)
	(can_traverse rover2 waypoint11 waypoint10)
	(can_traverse rover2 waypoint10 waypoint11)
	(can_traverse rover2 waypoint11 waypoint24)
	(can_traverse rover2 waypoint24 waypoint11)
	(can_traverse rover2 waypoint22 waypoint16)
	(can_traverse rover2 waypoint16 waypoint22)
	(can_traverse rover2 waypoint27 waypoint8)
	(can_traverse rover2 waypoint8 waypoint27)
	(can_traverse rover2 waypoint23 waypoint15)
	(can_traverse rover2 waypoint15 waypoint23)
	(= (energy rover3) 50)
	(at rover3 waypoint23)
	(available rover3)
	(store_of rover3store rover3)
	(empty rover3store)
	(equipped_for_soil_analysis rover3)
	(equipped_for_rock_analysis rover3)
	(equipped_for_imaging rover3)
	(can_traverse rover3 waypoint23 waypoint0)
	(can_traverse rover3 waypoint0 waypoint23)
	(can_traverse rover3 waypoint23 waypoint9)
	(can_traverse rover3 waypoint9 waypoint23)
	(can_traverse rover3 waypoint23 waypoint14)
	(can_traverse rover3 waypoint14 waypoint23)
	(can_traverse rover3 waypoint23 waypoint15)
	(can_traverse rover3 waypoint15 waypoint23)
	(can_traverse rover3 waypoint0 waypoint10)
	(can_traverse rover3 waypoint10 waypoint0)
	(can_traverse rover3 waypoint0 waypoint17)
	(can_traverse rover3 waypoint17 waypoint0)
	(can_traverse rover3 waypoint0 waypoint19)
	(can_traverse rover3 waypoint19 waypoint0)
	(can_traverse rover3 waypoint0 waypoint21)
	(can_traverse rover3 waypoint21 waypoint0)
	(can_traverse rover3 waypoint0 waypoint28)
	(can_traverse rover3 waypoint28 waypoint0)
	(can_traverse rover3 waypoint9 waypoint1)
	(can_traverse rover3 waypoint1 waypoint9)
	(can_traverse rover3 waypoint9 waypoint12)
	(can_traverse rover3 waypoint12 waypoint9)
	(can_traverse rover3 waypoint9 waypoint22)
	(can_traverse rover3 waypoint22 waypoint9)
	(can_traverse rover3 waypoint9 waypoint29)
	(can_traverse rover3 waypoint29 waypoint9)
	(can_traverse rover3 waypoint14 waypoint7)
	(can_traverse rover3 waypoint7 waypoint14)
	(can_traverse rover3 waypoint14 waypoint11)
	(can_traverse rover3 waypoint11 waypoint14)
	(can_traverse rover3 waypoint15 waypoint25)
	(can_traverse rover3 waypoint25 waypoint15)
	(can_traverse rover3 waypoint15 waypoint26)
	(can_traverse rover3 waypoint26 waypoint15)
	(can_traverse rover3 waypoint10 waypoint3)
	(can_traverse rover3 waypoint3 waypoint10)
	(can_traverse rover3 waypoint10 waypoint18)
	(can_traverse rover3 waypoint18 waypoint10)
	(can_traverse rover3 waypoint10 waypoint24)
	(can_traverse rover3 waypoint24 waypoint10)
	(can_traverse rover3 waypoint17 waypoint4)
	(can_traverse rover3 waypoint4 waypoint17)
	(can_traverse rover3 waypoint17 waypoint5)
	(can_traverse rover3 waypoint5 waypoint17)
	(can_traverse rover3 waypoint17 waypoint13)
	(can_traverse rover3 waypoint13 waypoint17)
	(can_traverse rover3 waypoint19 waypoint20)
	(can_traverse rover3 waypoint20 waypoint19)
	(can_traverse rover3 waypoint21 waypoint6)
	(can_traverse rover3 waypoint6 waypoint21)
	(can_traverse rover3 waypoint12 waypoint16)
	(can_traverse rover3 waypoint16 waypoint12)
	(can_traverse rover3 waypoint25 waypoint27)
	(can_traverse rover3 waypoint27 waypoint25)
	(can_traverse rover3 waypoint3 waypoint8)
	(can_traverse rover3 waypoint8 waypoint3)
	(can_traverse rover3 waypoint24 waypoint2)
	(can_traverse rover3 waypoint2 waypoint24)
	(= (energy rover4) 50)
	(at rover4 waypoint22)
	(available rover4)
	(store_of rover4store rover4)
	(empty rover4store)
	(equipped_for_soil_analysis rover4)
	(equipped_for_rock_analysis rover4)
	(equipped_for_imaging rover4)
	(can_traverse rover4 waypoint22 waypoint5)
	(can_traverse rover4 waypoint5 waypoint22)
	(can_traverse rover4 waypoint22 waypoint17)
	(can_traverse rover4 waypoint17 waypoint22)
	(can_traverse rover4 waypoint22 waypoint18)
	(can_traverse rover4 waypoint18 waypoint22)
	(can_traverse rover4 waypoint22 waypoint19)
	(can_traverse rover4 waypoint19 waypoint22)
	(can_traverse rover4 waypoint22 waypoint25)
	(can_traverse rover4 waypoint25 waypoint22)
	(can_traverse rover4 waypoint5 waypoint3)
	(can_traverse rover4 waypoint3 waypoint5)
	(can_traverse rover4 waypoint5 waypoint16)
	(can_traverse rover4 waypoint16 waypoint5)
	(can_traverse rover4 waypoint5 waypoint20)
	(can_traverse rover4 waypoint20 waypoint5)
	(can_traverse rover4 waypoint5 waypoint26)
	(can_traverse rover4 waypoint26 waypoint5)
	(can_traverse rover4 waypoint17 waypoint0)
	(can_traverse rover4 waypoint0 waypoint17)
	(can_traverse rover4 waypoint17 waypoint1)
	(can_traverse rover4 waypoint1 waypoint17)
	(can_traverse rover4 waypoint17 waypoint4)
	(can_traverse rover4 waypoint4 waypoint17)
	(can_traverse rover4 waypoint17 waypoint13)
	(can_traverse rover4 waypoint13 waypoint17)
	(can_traverse rover4 waypoint18 waypoint8)
	(can_traverse rover4 waypoint8 waypoint18)
	(can_traverse rover4 waypoint18 waypoint28)
	(can_traverse rover4 waypoint28 waypoint18)
	(can_traverse rover4 waypoint19 waypoint12)
	(can_traverse rover4 waypoint12 waypoint19)
	(can_traverse rover4 waypoint25 waypoint15)
	(can_traverse rover4 waypoint15 waypoint25)
	(can_traverse rover4 waypoint25 waypoint24)
	(can_traverse rover4 waypoint24 waypoint25)
	(can_traverse rover4 waypoint3 waypoint10)
	(can_traverse rover4 waypoint10 waypoint3)
	(can_traverse rover4 waypoint3 waypoint11)
	(can_traverse rover4 waypoint11 waypoint3)
	(can_traverse rover4 waypoint16 waypoint6)
	(can_traverse rover4 waypoint6 waypoint16)
	(can_traverse rover4 waypoint20 waypoint9)
	(can_traverse rover4 waypoint9 waypoint20)
	(can_traverse rover4 waypoint20 waypoint27)
	(can_traverse rover4 waypoint27 waypoint20)
	(can_traverse rover4 waypoint26 waypoint21)
	(can_traverse rover4 waypoint21 waypoint26)
	(can_traverse rover4 waypoint26 waypoint29)
	(can_traverse rover4 waypoint29 waypoint26)
	(can_traverse rover4 waypoint1 waypoint7)
	(can_traverse rover4 waypoint7 waypoint1)
	(can_traverse rover4 waypoint13 waypoint2)
	(can_traverse rover4 waypoint2 waypoint13)
	(can_traverse rover4 waypoint15 waypoint23)
	(can_traverse rover4 waypoint23 waypoint15)
	(can_traverse rover4 waypoint10 waypoint14)
	(can_traverse rover4 waypoint14 waypoint10)
	(= (energy rover5) 50)
	(at rover5 waypoint7)
	(available rover5)
	(store_of rover5store rover5)
	(empty rover5store)
	(equipped_for_soil_analysis rover5)
	(equipped_for_rock_analysis rover5)
	(equipped_for_imaging rover5)
	(can_traverse rover5 waypoint7 waypoint1)
	(can_traverse rover5 waypoint1 waypoint7)
	(can_traverse rover5 waypoint7 waypoint17)
	(can_traverse rover5 waypoint17 waypoint7)
	(can_traverse rover5 waypoint7 waypoint21)
	(can_traverse rover5 waypoint21 waypoint7)
	(can_traverse rover5 waypoint7 waypoint28)
	(can_traverse rover5 waypoint28 waypoint7)
	(can_traverse rover5 waypoint1 waypoint11)
	(can_traverse rover5 waypoint11 waypoint1)
	(can_traverse rover5 waypoint1 waypoint15)
	(can_traverse rover5 waypoint15 waypoint1)
	(can_traverse rover5 waypoint1 waypoint24)
	(can_traverse rover5 waypoint24 waypoint1)
	(can_traverse rover5 waypoint1 waypoint25)
	(can_traverse rover5 waypoint25 waypoint1)
	(can_traverse rover5 waypoint17 waypoint0)
	(can_traverse rover5 waypoint0 waypoint17)
	(can_traverse rover5 waypoint17 waypoint5)
	(can_traverse rover5 waypoint5 waypoint17)
	(can_traverse rover5 waypoint17 waypoint9)
	(can_traverse rover5 waypoint9 waypoint17)
	(can_traverse rover5 waypoint17 waypoint13)
	(can_traverse rover5 waypoint13 waypoint17)
	(can_traverse rover5 waypoint17 waypoint22)
	(can_traverse rover5 waypoint22 waypoint17)
	(can_traverse rover5 waypoint17 waypoint27)
	(can_traverse rover5 waypoint27 waypoint17)
	(can_traverse rover5 waypoint17 waypoint29)
	(can_traverse rover5 waypoint29 waypoint17)
	(can_traverse rover5 waypoint21 waypoint4)
	(can_traverse rover5 waypoint4 waypoint21)
	(can_traverse rover5 waypoint21 waypoint6)
	(can_traverse rover5 waypoint6 waypoint21)
	(can_traverse rover5 waypoint21 waypoint26)
	(can_traverse rover5 waypoint26 waypoint21)
	(can_traverse rover5 waypoint28 waypoint10)
	(can_traverse rover5 waypoint10 waypoint28)
	(can_traverse rover5 waypoint28 waypoint19)
	(can_traverse rover5 waypoint19 waypoint28)
	(can_traverse rover5 waypoint11 waypoint3)
	(can_traverse rover5 waypoint3 waypoint11)
	(can_traverse rover5 waypoint11 waypoint12)
	(can_traverse rover5 waypoint12 waypoint11)
	(can_traverse rover5 waypoint11 waypoint20)
	(can_traverse rover5 waypoint20 waypoint11)
	(can_traverse rover5 waypoint15 waypoint16)
	(can_traverse rover5 waypoint16 waypoint15)
	(can_traverse rover5 waypoint15 waypoint23)
	(can_traverse rover5 waypoint23 waypoint15)
	(can_traverse rover5 waypoint24 waypoint2)
	(can_traverse rover5 waypoint2 waypoint24)
	(can_traverse rover5 waypoint25 waypoint18)
	(can_traverse rover5 waypoint18 waypoint25)
	(can_traverse rover5 waypoint0 waypoint14)
	(can_traverse rover5 waypoint14 waypoint0)
	(can_traverse rover5 waypoint27 waypoint8)
	(can_traverse rover5 waypoint8 waypoint27)
	(= (energy rover6) 50)
	(at rover6 waypoint18)
	(available rover6)
	(store_of rover6store rover6)
	(empty rover6store)
	(equipped_for_soil_analysis rover6)
	(equipped_for_imaging rover6)
	(can_traverse rover6 waypoint18 waypoint8)
	(can_traverse rover6 waypoint8 waypoint18)
	(can_traverse rover6 waypoint18 waypoint10)
	(can_traverse rover6 waypoint10 waypoint18)
	(can_traverse rover6 waypoint18 waypoint22)
	(can_traverse rover6 waypoint22 waypoint18)
	(can_traverse rover6 waypoint18 waypoint26)
	(can_traverse rover6 waypoint26 waypoint18)
	(can_traverse rover6 waypoint18 waypoint28)
	(can_traverse rover6 waypoint28 waypoint18)
	(can_traverse rover6 waypoint8 waypoint2)
	(can_traverse rover6 waypoint2 waypoint8)
	(can_traverse rover6 waypoint8 waypoint3)
	(can_traverse rover6 waypoint3 waypoint8)
	(can_traverse rover6 waypoint8 waypoint16)
	(can_traverse rover6 waypoint16 waypoint8)
	(can_traverse rover6 waypoint8 waypoint27)
	(can_traverse rover6 waypoint27 waypoint8)
	(can_traverse rover6 waypoint10 waypoint0)
	(can_traverse rover6 waypoint0 waypoint10)
	(can_traverse rover6 waypoint10 waypoint11)
	(can_traverse rover6 waypoint11 waypoint10)
	(can_traverse rover6 waypoint10 waypoint12)
	(can_traverse rover6 waypoint12 waypoint10)
	(can_traverse rover6 waypoint10 waypoint14)
	(can_traverse rover6 waypoint14 waypoint10)
	(can_traverse rover6 waypoint10 waypoint19)
	(can_traverse rover6 waypoint19 waypoint10)
	(can_traverse rover6 waypoint10 waypoint29)
	(can_traverse rover6 waypoint29 waypoint10)
	(can_traverse rover6 waypoint22 waypoint5)
	(can_traverse rover6 waypoint5 waypoint22)
	(can_traverse rover6 waypoint22 waypoint7)
	(can_traverse rover6 waypoint7 waypoint22)
	(can_traverse rover6 waypoint26 waypoint4)
	(can_traverse rover6 waypoint4 waypoint26)
	(can_traverse rover6 waypoint26 waypoint13)
	(can_traverse rover6 waypoint13 waypoint26)
	(can_traverse rover6 waypoint26 waypoint15)
	(can_traverse rover6 waypoint15 waypoint26)
	(can_traverse rover6 waypoint26 waypoint21)
	(can_traverse rover6 waypoint21 waypoint26)
	(can_traverse rover6 waypoint28 waypoint17)
	(can_traverse rover6 waypoint17 waypoint28)
	(can_traverse rover6 waypoint28 waypoint24)
	(can_traverse rover6 waypoint24 waypoint28)
	(can_traverse rover6 waypoint3 waypoint6)
	(can_traverse rover6 waypoint6 waypoint3)
	(can_traverse rover6 waypoint3 waypoint25)
	(can_traverse rover6 waypoint25 waypoint3)
	(can_traverse rover6 waypoint16 waypoint20)
	(can_traverse rover6 waypoint20 waypoint16)
	(can_traverse rover6 waypoint27 waypoint9)
	(can_traverse rover6 waypoint9 waypoint27)
	(= (energy rover7) 50)
	(at rover7 waypoint0)
	(available rover7)
	(store_of rover7store rover7)
	(empty rover7store)
	(equipped_for_soil_analysis rover7)
	(equipped_for_imaging rover7)
	(can_traverse rover7 waypoint0 waypoint2)
	(can_traverse rover7 waypoint2 waypoint0)
	(can_traverse rover7 waypoint0 waypoint4)
	(can_traverse rover7 waypoint4 waypoint0)
	(can_traverse rover7 waypoint0 waypoint10)
	(can_traverse rover7 waypoint10 waypoint0)
	(can_traverse rover7 waypoint0 waypoint17)
	(can_traverse rover7 waypoint17 waypoint0)
	(can_traverse rover7 waypoint0 waypoint19)
	(can_traverse rover7 waypoint19 waypoint0)
	(can_traverse rover7 waypoint0 waypoint20)
	(can_traverse rover7 waypoint20 waypoint0)
	(can_traverse rover7 waypoint0 waypoint28)
	(can_traverse rover7 waypoint28 waypoint0)
	(can_traverse rover7 waypoint2 waypoint8)
	(can_traverse rover7 waypoint8 waypoint2)
	(can_traverse rover7 waypoint2 waypoint13)
	(can_traverse rover7 waypoint13 waypoint2)
	(can_traverse rover7 waypoint2 waypoint24)
	(can_traverse rover7 waypoint24 waypoint2)
	(can_traverse rover7 waypoint4 waypoint26)
	(can_traverse rover7 waypoint26 waypoint4)
	(can_traverse rover7 waypoint4 waypoint29)
	(can_traverse rover7 waypoint29 waypoint4)
	(can_traverse rover7 waypoint10 waypoint3)
	(can_traverse rover7 waypoint3 waypoint10)
	(can_traverse rover7 waypoint10 waypoint11)
	(can_traverse rover7 waypoint11 waypoint10)
	(can_traverse rover7 waypoint10 waypoint14)
	(can_traverse rover7 waypoint14 waypoint10)
	(can_traverse rover7 waypoint10 waypoint18)
	(can_traverse rover7 waypoint18 waypoint10)
	(can_traverse rover7 waypoint17 waypoint1)
	(can_traverse rover7 waypoint1 waypoint17)
	(can_traverse rover7 waypoint17 waypoint9)
	(can_traverse rover7 waypoint9 waypoint17)
	(can_traverse rover7 waypoint17 waypoint27)
	(can_traverse rover7 waypoint27 waypoint17)
	(can_traverse rover7 waypoint19 waypoint12)
	(can_traverse rover7 waypoint12 waypoint19)
	(can_traverse rover7 waypoint19 waypoint22)
	(can_traverse rover7 waypoint22 waypoint19)
	(can_traverse rover7 waypoint19 waypoint25)
	(can_traverse rover7 waypoint25 waypoint19)
	(can_traverse rover7 waypoint20 waypoint5)
	(can_traverse rover7 waypoint5 waypoint20)
	(can_traverse rover7 waypoint20 waypoint16)
	(can_traverse rover7 waypoint16 waypoint20)
	(can_traverse rover7 waypoint13 waypoint21)
	(can_traverse rover7 waypoint21 waypoint13)
	(can_traverse rover7 waypoint24 waypoint6)
	(can_traverse rover7 waypoint6 waypoint24)
	(can_traverse rover7 waypoint29 waypoint23)
	(can_traverse rover7 waypoint23 waypoint29)
	(can_traverse rover7 waypoint14 waypoint15)
	(can_traverse rover7 waypoint15 waypoint14)
	(can_traverse rover7 waypoint1 waypoint7)
	(can_traverse rover7 waypoint7 waypoint1)
	(on_board camera0 rover7)
	(calibration_target camera0 objective0)
	(supports camera0 high_res)
	(supports camera0 low_res)
	(on_board camera1 rover7)
	(calibration_target camera1 objective5)
	(supports camera1 colour)
	(supports camera1 high_res)
	(supports camera1 low_res)
	(on_board camera2 rover3)
	(calibration_target camera2 objective7)
	(supports camera2 high_res)
	(on_board camera3 rover3)
	(calibration_target camera3 objective7)
	(supports camera3 colour)
	(supports camera3 high_res)
	(supports camera3 low_res)
	(on_board camera4 rover3)
	(calibration_target camera4 objective3)
	(supports camera4 colour)
	(supports camera4 high_res)
	(supports camera4 low_res)
	(on_board camera5 rover2)
	(calibration_target camera5 objective9)
	(supports camera5 high_res)
	(on_board camera6 rover5)
	(calibration_target camera6 objective4)
	(supports camera6 low_res)
	(on_board camera7 rover5)
	(calibration_target camera7 objective4)
	(supports camera7 high_res)
	(on_board camera8 rover5)
	(calibration_target camera8 objective6)
	(supports camera8 high_res)
	(on_board camera9 rover6)
	(calibration_target camera9 objective8)
	(supports camera9 low_res)
	(on_board camera10 rover1)
	(calibration_target camera10 objective2)
	(supports camera10 high_res)
	(on_board camera11 rover4)
	(calibration_target camera11 objective5)
	(supports camera11 low_res)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint1)
	(visible_from objective0 waypoint2)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective0 waypoint5)
	(visible_from objective0 waypoint6)
	(visible_from objective0 waypoint7)
	(visible_from objective0 waypoint8)
	(visible_from objective0 waypoint9)
	(visible_from objective1 waypoint0)
	(visible_from objective1 waypoint1)
	(visible_from objective1 waypoint2)
	(visible_from objective1 waypoint3)
	(visible_from objective1 waypoint4)
	(visible_from objective1 waypoint5)
	(visible_from objective1 waypoint6)
	(visible_from objective1 waypoint7)
	(visible_from objective1 waypoint8)
	(visible_from objective1 waypoint9)
	(visible_from objective1 waypoint10)
	(visible_from objective1 waypoint11)
	(visible_from objective1 waypoint12)
	(visible_from objective1 waypoint13)
	(visible_from objective1 waypoint14)
	(visible_from objective2 waypoint0)
	(visible_from objective3 waypoint0)
	(visible_from objective3 waypoint1)
	(visible_from objective3 waypoint2)
	(visible_from objective3 waypoint3)
	(visible_from objective3 waypoint4)
	(visible_from objective3 waypoint5)
	(visible_from objective3 waypoint6)
	(visible_from objective3 waypoint7)
	(visible_from objective3 waypoint8)
	(visible_from objective3 waypoint9)
	(visible_from objective3 waypoint10)
	(visible_from objective3 waypoint11)
	(visible_from objective3 waypoint12)
	(visible_from objective4 waypoint0)
	(visible_from objective4 waypoint1)
	(visible_from objective4 waypoint2)
	(visible_from objective4 waypoint3)
	(visible_from objective4 waypoint4)
	(visible_from objective4 waypoint5)
	(visible_from objective4 waypoint6)
	(visible_from objective4 waypoint7)
	(visible_from objective4 waypoint8)
	(visible_from objective4 waypoint9)
	(visible_from objective4 waypoint10)
	(visible_from objective4 waypoint11)
	(visible_from objective4 waypoint12)
	(visible_from objective4 waypoint13)
	(visible_from objective4 waypoint14)
	(visible_from objective4 waypoint15)
	(visible_from objective4 waypoint16)
	(visible_from objective5 waypoint0)
	(visible_from objective5 waypoint1)
	(visible_from objective5 waypoint2)
	(visible_from objective5 waypoint3)
	(visible_from objective5 waypoint4)
	(visible_from objective5 waypoint5)
	(visible_from objective5 waypoint6)
	(visible_from objective5 waypoint7)
	(visible_from objective5 waypoint8)
	(visible_from objective5 waypoint9)
	(visible_from objective5 waypoint10)
	(visible_from objective6 waypoint0)
	(visible_from objective6 waypoint1)
	(visible_from objective6 waypoint2)
	(visible_from objective6 waypoint3)
	(visible_from objective6 waypoint4)
	(visible_from objective6 waypoint5)
	(visible_from objective6 waypoint6)
	(visible_from objective6 waypoint7)
	(visible_from objective6 waypoint8)
	(visible_from objective6 waypoint9)
	(visible_from objective6 waypoint10)
	(visible_from objective6 waypoint11)
	(visible_from objective6 waypoint12)
	(visible_from objective6 waypoint13)
	(visible_from objective6 waypoint14)
	(visible_from objective6 waypoint15)
	(visible_from objective6 waypoint16)
	(visible_from objective6 waypoint17)
	(visible_from objective6 waypoint18)
	(visible_from objective6 waypoint19)
	(visible_from objective6 waypoint20)
	(visible_from objective6 waypoint21)
	(visible_from objective6 waypoint22)
	(visible_from objective6 waypoint23)
	(visible_from objective6 waypoint24)
	(visible_from objective7 waypoint0)
	(visible_from objective7 waypoint1)
	(visible_from objective7 waypoint2)
	(visible_from objective7 waypoint3)
	(visible_from objective7 waypoint4)
	(visible_from objective7 waypoint5)
	(visible_from objective7 waypoint6)
	(visible_from objective7 waypoint7)
	(visible_from objective7 waypoint8)
	(visible_from objective7 waypoint9)
	(visible_from objective7 waypoint10)
	(visible_from objective7 waypoint11)
	(visible_from objective7 waypoint12)
	(visible_from objective7 waypoint13)
	(visible_from objective8 waypoint0)
	(visible_from objective8 waypoint1)
	(visible_from objective8 waypoint2)
	(visible_from objective8 waypoint3)
	(visible_from objective8 waypoint4)
	(visible_from objective8 waypoint5)
	(visible_from objective8 waypoint6)
	(visible_from objective8 waypoint7)
	(visible_from objective8 waypoint8)
	(visible_from objective8 waypoint9)
	(visible_from objective8 waypoint10)
	(visible_from objective8 waypoint11)
	(visible_from objective8 waypoint12)
	(visible_from objective8 waypoint13)
	(visible_from objective8 waypoint14)
	(visible_from objective8 waypoint15)
	(visible_from objective8 waypoint16)
	(visible_from objective8 waypoint17)
	(visible_from objective8 waypoint18)
	(visible_from objective8 waypoint19)
	(visible_from objective8 waypoint20)
	(visible_from objective8 waypoint21)
	(visible_from objective8 waypoint22)
	(visible_from objective8 waypoint23)
	(visible_from objective9 waypoint0)
	(visible_from objective9 waypoint1)
)

(:goal (and
(communicated_soil_data waypoint29)
(communicated_soil_data waypoint22)
(communicated_soil_data waypoint11)
(communicated_soil_data waypoint15)
(communicated_soil_data waypoint8)
(communicated_rock_data waypoint26)
(communicated_rock_data waypoint22)
(communicated_rock_data waypoint20)
(communicated_rock_data waypoint7)
(communicated_rock_data waypoint10)
(communicated_image_data objective8 high_res)
(communicated_image_data objective7 high_res)
(communicated_image_data objective6 high_res)
	)
)

(:metric minimize (recharges))

)