(define (problem multirobot_23_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r28
  v1 r29
  v2 r14
  v3
  v4 r48
  v5 r69
  v6 r88
  v7 r18
  v8 r60
  v9 r49
  v10 r47
  v11 r76
  v12 r19
  v13 r33
  v14 r83
  v15 r43
  v16 r64
  v17 r12
  v18 r85
  v19 r71
  v20 r84
  v21 r62
  v22 r67
  v23 r66
  v24 r46
  v25 r77
  v26 r72
  v27 r44
  v28 r31
  v29 r22
  v30 r73
  v31 r68
  v32 r52
  v33 r26
  v34 r86
  v35 r59
  v36 r9
  v37 r25
  v38 r30
  v39 r81
  v40 r63
  v41 r32
  v42
  v43 r39
  v44 r75
  v45 r23
  v46 r79
  v47 r15
  v48 r11
  v49 r8
  v50 r17
  v51 r70
  v52 r42
  v53 r34
  v54 r65
  v55 r55
  v56 r20
  v57 r10
  v58 r53
  v59 r56
  v60 r21
  v61
  v62 r78
  v63 r13
  v64 r82
  v65 r37
  v66 r89
  v67 r61
  v68
  v69 r58
  v70 r74
  v71 r16
  v72 r57
  v73 r38
  v74 r45
  v75 r35
  v76 r36
  v77 r24
  v78 r40
  v79 r41
  v80
  v81 r50
  v82 r54
  v83
  v84
  v85 r51
  v86 r27
  v87 r80
  v88 r87
  v89
 )
 (:init
  (at r28 v0)
  (at r29 v1)
  (at r14 v2)
  (free v3)
  (at r48 v4)
  (at r69 v5)
  (at r88 v6)
  (at r18 v7)
  (at r60 v8)
  (at r49 v9)
  (at r47 v10)
  (at r76 v11)
  (at r19 v12)
  (at r33 v13)
  (at r83 v14)
  (at r43 v15)
  (at r64 v16)
  (at r12 v17)
  (at r85 v18)
  (at r71 v19)
  (at r84 v20)
  (at r62 v21)
  (at r67 v22)
  (at r66 v23)
  (at r46 v24)
  (at r77 v25)
  (at r72 v26)
  (at r44 v27)
  (at r31 v28)
  (at r22 v29)
  (at r73 v30)
  (at r68 v31)
  (at r52 v32)
  (at r26 v33)
  (at r86 v34)
  (at r59 v35)
  (at r9 v36)
  (at r25 v37)
  (at r30 v38)
  (at r81 v39)
  (at r63 v40)
  (at r32 v41)
  (free v42)
  (at r39 v43)
  (at r75 v44)
  (at r23 v45)
  (at r79 v46)
  (at r15 v47)
  (at r11 v48)
  (at r8 v49)
  (at r17 v50)
  (at r70 v51)
  (at r42 v52)
  (at r34 v53)
  (at r65 v54)
  (at r55 v55)
  (at r20 v56)
  (at r10 v57)
  (at r53 v58)
  (at r56 v59)
  (at r21 v60)
  (free v61)
  (at r78 v62)
  (at r13 v63)
  (at r82 v64)
  (at r37 v65)
  (at r89 v66)
  (at r61 v67)
  (free v68)
  (at r58 v69)
  (at r74 v70)
  (at r16 v71)
  (at r57 v72)
  (at r38 v73)
  (at r45 v74)
  (at r35 v75)
  (at r36 v76)
  (at r24 v77)
  (at r40 v78)
  (at r41 v79)
  (free v80)
  (at r50 v81)
  (at r54 v82)
  (free v83)
  (free v84)
  (at r51 v85)
  (at r27 v86)
  (at r80 v87)
  (at r87 v88)
  (free v89)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v50)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v89)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v42)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v29)
  (adjacent v6 v30)
  (adjacent v6 v73)
  (adjacent v7 v8)
  (adjacent v7 v16)
  (adjacent v7 v17)
  (adjacent v7 v27)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v26)
  (adjacent v8 v35)
  (adjacent v8 v56)
  (adjacent v8 v57)
  (adjacent v9 v10)
  (adjacent v9 v24)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v10 v69)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v16)
  (adjacent v13 v18)
  (adjacent v14 v15)
  (adjacent v15 v19)
  (adjacent v15 v63)
  (adjacent v17 v18)
  (adjacent v18 v36)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v20 v21)
  (adjacent v20 v42)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v26 v80)
  (adjacent v27 v28)
  (adjacent v27 v83)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v68)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v72)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v39 v50)
  (adjacent v40 v41)
  (adjacent v40 v49)
  (adjacent v41 v67)
  (adjacent v42 v75)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v72)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v50 v64)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v74)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v71)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v81)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v88)
  (adjacent v80 v82)
  (adjacent v80 v89)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
 )
 (:goal
  (and
  (at r39 v0)
  (at r18 v1)
  (at r78 v2)
  (at r19 v3)
  (at r12 v4)
  (at r14 v5)
  (at r53 v6)
  (at r72 v7)
  (at r80 v8)
  (at r42 v9)
  (at r21 v10)
  (at r84 v11)
  (at r23 v12)
  (at r48 v13)
  (at r75 v14)
  (free v15)
  (at r61 v16)
  (at r17 v17)
  (at r45 v18)
  (at r70 v19)
  (at r27 v20)
  (free v21)
  (at r28 v22)
  (at r20 v23)
  (at r8 v24)
  (free v25)
  (at r63 v26)
  (free v27)
  (at r66 v28)
  (free v29)
  (at r50 v30)
  (at r86 v31)
  (at r47 v32)
  (at r26 v33)
  (at r10 v34)
  (at r13 v35)
  (at r58 v36)
  (at r35 v37)
  (at r77 v38)
  (free v39)
  (at r60 v40)
  (at r11 v41)
  (at r52 v42)
  (at r37 v43)
  (at r31 v44)
  (at r29 v45)
  (at r43 v46)
  (at r36 v47)
  (at r64 v48)
  (at r62 v49)
  (at r76 v50)
  (at r32 v51)
  (at r74 v52)
  (at r15 v53)
  (at r34 v54)
  (at r30 v55)
  (at r16 v56)
  (at r51 v57)
  (at r41 v58)
  (at r65 v59)
  (at r40 v60)
  (at r71 v61)
  (at r22 v62)
  (at r46 v63)
  (at r59 v64)
  (free v65)
  (at r33 v66)
  (at r67 v67)
  (at r89 v68)
  (at r79 v69)
  (at r88 v70)
  (at r44 v71)
  (at r68 v72)
  (at r83 v73)
  (at r85 v74)
  (at r49 v75)
  (at r87 v76)
  (at r9 v77)
  (at r69 v78)
  (at r54 v79)
  (free v80)
  (at r82 v81)
  (at r38 v82)
  (at r81 v83)
  (at r25 v84)
  (at r24 v85)
  (at r57 v86)
  (at r56 v87)
  (at r55 v88)
  (at r73 v89)
  )
 )
)