(define (problem multirobot_4_10_c5)
 (:domain multirobot)
 (:objects
  v0 r13
  v1 r20
  v2 r8
  v3 r17
  v4 r5
  v5
  v6
  v7 r10
  v8 r21
  v9 r16
  v10 r4
  v11 r7
  v12 r2
  v13 r14
  v14 r19
  v15 r12
  v16 r11
  v17 r9
  v18 r6
  v19 r3
  v20 r18
  v21 r15
 )
 (:init
  (at r13 v0)
  (at r20 v1)
  (at r8 v2)
  (at r17 v3)
  (at r5 v4)
  (free v5)
  (free v6)
  (at r10 v7)
  (at r21 v8)
  (at r16 v9)
  (at r4 v10)
  (at r7 v11)
  (at r2 v12)
  (at r14 v13)
  (at r19 v14)
  (at r12 v15)
  (at r11 v16)
  (at r9 v17)
  (at r6 v18)
  (at r3 v19)
  (at r18 v20)
  (at r15 v21)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v14)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v19)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v20 v21)
 )
 (:goal
  (and
  (at r21 v0)
  (at r8 v1)
  (at r6 v2)
  (at r11 v3)
  (at r16 v4)
  (free v5)
  (at r12 v6)
  (at r18 v7)
  (at r2 v8)
  (at r5 v9)
  (at r20 v10)
  (free v11)
  (at r7 v12)
  (at r19 v13)
  (at r17 v14)
  (at r4 v15)
  (at r15 v16)
  (at r13 v17)
  (at r3 v18)
  (at r14 v19)
  (at r10 v20)
  (at r9 v21)
  )
 )
)