(define (problem multirobot_4_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r15
  v1 r13
  v2 r5
  v3 r10
  v4 r16
  v5 r7
  v6 r4
  v7 r3
  v8 r6
  v9 r11
  v10 r20
  v11 r19
  v12 r18
  v13 r14
  v14 r9
  v15 r12
  v16 r2
  v17
  v18 r8
  v19
  v20 r17
 )
 (:init
  (at r15 v0)
  (at r13 v1)
  (at r5 v2)
  (at r10 v3)
  (at r16 v4)
  (at r7 v5)
  (at r4 v6)
  (at r3 v7)
  (at r6 v8)
  (at r11 v9)
  (at r20 v10)
  (at r19 v11)
  (at r18 v12)
  (at r14 v13)
  (at r9 v14)
  (at r12 v15)
  (at r2 v16)
  (free v17)
  (at r8 v18)
  (free v19)
  (at r17 v20)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v4 v9)
  (adjacent v4 v16)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v20)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
 )
 (:goal
  (and
  (at r3 v0)
  (at r14 v1)
  (at r19 v2)
  (at r7 v3)
  (at r6 v4)
  (at r15 v5)
  (at r4 v6)
  (at r8 v7)
  (at r20 v8)
  (at r11 v9)
  (at r5 v10)
  (free v11)
  (at r13 v12)
  (at r10 v13)
  (at r18 v14)
  (at r2 v15)
  (at r12 v16)
  (at r9 v17)
  (at r17 v18)
  (free v19)
  (at r16 v20)
  )
 )
)