(define (problem multirobot_28_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r18
  v1
  v2 r24
  v3 r23
  v4 r34
  v5 r32
  v6 r72
  v7 r30
  v8 r20
  v9 r70
  v10
  v11 r45
  v12 r35
  v13 r68
  v14 r39
  v15 r66
  v16 r50
  v17 r54
  v18 r14
  v19 r73
  v20 r16
  v21 r79
  v22 r51
  v23 r12
  v24 r15
  v25 r40
  v26 r22
  v27
  v28 r21
  v29
  v30 r60
  v31 r69
  v32 r81
  v33 r31
  v34 r59
  v35 r63
  v36 r77
  v37
  v38 r75
  v39 r41
  v40 r52
  v41 r71
  v42 r55
  v43 r76
  v44 r17
  v45
  v46 r61
  v47 r43
  v48 r49
  v49 r82
  v50
  v51 r29
  v52 r37
  v53 r46
  v54 r65
  v55 r26
  v56 r74
  v57
  v58 r27
  v59 r25
  v60 r28
  v61 r57
  v62
  v63 r36
  v64 r64
  v65 r80
  v66 r78
  v67 r58
  v68 r11
  v69 r19
  v70 r38
  v71 r13
  v72
  v73 r47
  v74 r56
  v75 r33
  v76 r62
  v77 r42
  v78 r44
  v79 r53
  v80 r67
  v81 r48
  v82
 )
 (:init
  (at r18 v0)
  (free v1)
  (at r24 v2)
  (at r23 v3)
  (at r34 v4)
  (at r32 v5)
  (at r72 v6)
  (at r30 v7)
  (at r20 v8)
  (at r70 v9)
  (free v10)
  (at r45 v11)
  (at r35 v12)
  (at r68 v13)
  (at r39 v14)
  (at r66 v15)
  (at r50 v16)
  (at r54 v17)
  (at r14 v18)
  (at r73 v19)
  (at r16 v20)
  (at r79 v21)
  (at r51 v22)
  (at r12 v23)
  (at r15 v24)
  (at r40 v25)
  (at r22 v26)
  (free v27)
  (at r21 v28)
  (free v29)
  (at r60 v30)
  (at r69 v31)
  (at r81 v32)
  (at r31 v33)
  (at r59 v34)
  (at r63 v35)
  (at r77 v36)
  (free v37)
  (at r75 v38)
  (at r41 v39)
  (at r52 v40)
  (at r71 v41)
  (at r55 v42)
  (at r76 v43)
  (at r17 v44)
  (free v45)
  (at r61 v46)
  (at r43 v47)
  (at r49 v48)
  (at r82 v49)
  (free v50)
  (at r29 v51)
  (at r37 v52)
  (at r46 v53)
  (at r65 v54)
  (at r26 v55)
  (at r74 v56)
  (free v57)
  (at r27 v58)
  (at r25 v59)
  (at r28 v60)
  (at r57 v61)
  (free v62)
  (at r36 v63)
  (at r64 v64)
  (at r80 v65)
  (at r78 v66)
  (at r58 v67)
  (at r11 v68)
  (at r19 v69)
  (at r38 v70)
  (at r13 v71)
  (free v72)
  (at r47 v73)
  (at r56 v74)
  (at r33 v75)
  (at r62 v76)
  (at r42 v77)
  (at r44 v78)
  (at r53 v79)
  (at r67 v80)
  (at r48 v81)
  (free v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v23)
  (adjacent v0 v30)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v9)
  (adjacent v1 v41)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v10)
  (adjacent v2 v15)
  (adjacent v2 v68)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v16)
  (adjacent v3 v29)
  (adjacent v4 v6)
  (adjacent v4 v8)
  (adjacent v4 v30)
  (adjacent v5 v7)
  (adjacent v5 v8)
  (adjacent v5 v9)
  (adjacent v6 v10)
  (adjacent v6 v46)
  (adjacent v7 v60)
  (adjacent v8 v17)
  (adjacent v9 v24)
  (adjacent v9 v37)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v41)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v52)
  (adjacent v20 v21)
  (adjacent v20 v36)
  (adjacent v20 v69)
  (adjacent v21 v22)
  (adjacent v21 v54)
  (adjacent v21 v61)
  (adjacent v21 v70)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v27 v28)
  (adjacent v27 v31)
  (adjacent v27 v45)
  (adjacent v28 v29)
  (adjacent v29 v40)
  (adjacent v29 v42)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v47)
  (adjacent v34 v35)
  (adjacent v35 v74)
  (adjacent v36 v51)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v44)
  (adjacent v39 v40)
  (adjacent v40 v78)
  (adjacent v40 v81)
  (adjacent v41 v72)
  (adjacent v41 v82)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v55)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v73)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v80)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v77)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v74 v82)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v81)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r77 v2)
  (at r11 v3)
  (free v4)
  (at r33 v5)
  (at r52 v6)
  (at r31 v7)
  (at r82 v8)
  (at r81 v9)
  (at r16 v10)
  (at r38 v11)
  (at r21 v12)
  (at r48 v13)
  (at r44 v14)
  (at r34 v15)
  (at r29 v16)
  (at r14 v17)
  (at r69 v18)
  (at r26 v19)
  (at r49 v20)
  (at r39 v21)
  (at r18 v22)
  (at r56 v23)
  (at r55 v24)
  (at r17 v25)
  (at r76 v26)
  (at r50 v27)
  (at r47 v28)
  (at r40 v29)
  (at r75 v30)
  (at r42 v31)
  (at r22 v32)
  (at r35 v33)
  (at r66 v34)
  (at r68 v35)
  (at r54 v36)
  (at r27 v37)
  (at r13 v38)
  (free v39)
  (at r30 v40)
  (at r28 v41)
  (at r43 v42)
  (at r24 v43)
  (at r63 v44)
  (at r61 v45)
  (at r46 v46)
  (at r62 v47)
  (free v48)
  (at r59 v49)
  (free v50)
  (at r78 v51)
  (at r65 v52)
  (at r79 v53)
  (at r25 v54)
  (at r23 v55)
  (at r36 v56)
  (at r20 v57)
  (at r80 v58)
  (free v59)
  (at r60 v60)
  (free v61)
  (at r57 v62)
  (at r32 v63)
  (at r12 v64)
  (at r64 v65)
  (free v66)
  (at r51 v67)
  (at r72 v68)
  (at r19 v69)
  (at r67 v70)
  (at r71 v71)
  (free v72)
  (at r53 v73)
  (at r74 v74)
  (at r45 v75)
  (at r37 v76)
  (at r70 v77)
  (at r58 v78)
  (free v79)
  (at r73 v80)
  (at r15 v81)
  (at r41 v82)
  )
 )
)