(define (problem multirobot_16_2_c9)
 (:domain multirobot)
 (:objects
  v0 r33
  v1 r40
  v2 r61
  v3 r12
  v4 r60
  v5 r29
  v6 r25
  v7 r43
  v8 r78
  v9 r3
  v10 r63
  v11 r56
  v12 r30
  v13 r69
  v14 r49
  v15 r13
  v16 r55
  v17 r15
  v18 r74
  v19 r67
  v20 r7
  v21 r38
  v22 r54
  v23 r70
  v24 r68
  v25 r39
  v26 r57
  v27
  v28 r5
  v29 r51
  v30 r18
  v31 r8
  v32 r41
  v33 r4
  v34 r77
  v35 r46
  v36 r59
  v37 r47
  v38 r2
  v39 r65
  v40 r31
  v41 r22
  v42 r26
  v43 r35
  v44 r36
  v45 r48
  v46 r44
  v47 r20
  v48
  v49 r34
  v50 r16
  v51 r66
  v52 r37
  v53 r71
  v54 r58
  v55 r10
  v56 r50
  v57 r52
  v58 r17
  v59 r9
  v60 r6
  v61 r76
  v62 r14
  v63 r73
  v64 r28
  v65 r23
  v66 r21
  v67 r75
  v68 r32
  v69 r62
  v70 r64
  v71 r11
  v72 r42
  v73 r72
  v74 r27
  v75 r45
  v76 r19
  v77 r24
  v78 r53
 )
 (:init
  (at r33 v0)
  (at r40 v1)
  (at r61 v2)
  (at r12 v3)
  (at r60 v4)
  (at r29 v5)
  (at r25 v6)
  (at r43 v7)
  (at r78 v8)
  (at r3 v9)
  (at r63 v10)
  (at r56 v11)
  (at r30 v12)
  (at r69 v13)
  (at r49 v14)
  (at r13 v15)
  (at r55 v16)
  (at r15 v17)
  (at r74 v18)
  (at r67 v19)
  (at r7 v20)
  (at r38 v21)
  (at r54 v22)
  (at r70 v23)
  (at r68 v24)
  (at r39 v25)
  (at r57 v26)
  (free v27)
  (at r5 v28)
  (at r51 v29)
  (at r18 v30)
  (at r8 v31)
  (at r41 v32)
  (at r4 v33)
  (at r77 v34)
  (at r46 v35)
  (at r59 v36)
  (at r47 v37)
  (at r2 v38)
  (at r65 v39)
  (at r31 v40)
  (at r22 v41)
  (at r26 v42)
  (at r35 v43)
  (at r36 v44)
  (at r48 v45)
  (at r44 v46)
  (at r20 v47)
  (free v48)
  (at r34 v49)
  (at r16 v50)
  (at r66 v51)
  (at r37 v52)
  (at r71 v53)
  (at r58 v54)
  (at r10 v55)
  (at r50 v56)
  (at r52 v57)
  (at r17 v58)
  (at r9 v59)
  (at r6 v60)
  (at r76 v61)
  (at r14 v62)
  (at r73 v63)
  (at r28 v64)
  (at r23 v65)
  (at r21 v66)
  (at r75 v67)
  (at r32 v68)
  (at r62 v69)
  (at r64 v70)
  (at r11 v71)
  (at r42 v72)
  (at r72 v73)
  (at r27 v74)
  (at r45 v75)
  (at r19 v76)
  (at r24 v77)
  (at r53 v78)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v41)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v19)
  (adjacent v3 v4)
  (adjacent v3 v35)
  (adjacent v3 v57)
  (adjacent v4 v36)
  (adjacent v5 v6)
  (adjacent v5 v26)
  (adjacent v5 v66)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v73)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v78)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v15 v78)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v72)
  (adjacent v19 v20)
  (adjacent v19 v43)
  (adjacent v21 v22)
  (adjacent v21 v31)
  (adjacent v22 v23)
  (adjacent v22 v58)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v52)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v29 v32)
  (adjacent v30 v31)
  (adjacent v30 v44)
  (adjacent v30 v50)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v36 v49)
  (adjacent v37 v38)
  (adjacent v37 v77)
  (adjacent v38 v39)
  (adjacent v38 v51)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v67)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v62)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v61)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r5 v0)
  (at r67 v1)
  (at r62 v2)
  (at r15 v3)
  (at r66 v4)
  (at r72 v5)
  (at r26 v6)
  (at r56 v7)
  (at r64 v8)
  (at r40 v9)
  (at r70 v10)
  (at r65 v11)
  (at r9 v12)
  (at r19 v13)
  (at r68 v14)
  (at r55 v15)
  (at r48 v16)
  (at r7 v17)
  (at r52 v18)
  (at r38 v19)
  (free v20)
  (at r76 v21)
  (at r14 v22)
  (at r27 v23)
  (at r32 v24)
  (at r50 v25)
  (at r57 v26)
  (at r61 v27)
  (at r63 v28)
  (at r45 v29)
  (at r71 v30)
  (at r73 v31)
  (at r3 v32)
  (at r69 v33)
  (at r53 v34)
  (at r25 v35)
  (at r28 v36)
  (at r2 v37)
  (at r51 v38)
  (at r75 v39)
  (at r33 v40)
  (at r23 v41)
  (at r77 v42)
  (at r12 v43)
  (at r49 v44)
  (at r6 v45)
  (at r78 v46)
  (at r60 v47)
  (at r10 v48)
  (at r47 v49)
  (at r22 v50)
  (at r36 v51)
  (at r20 v52)
  (at r24 v53)
  (at r74 v54)
  (at r30 v55)
  (at r34 v56)
  (at r35 v57)
  (at r39 v58)
  (at r37 v59)
  (at r59 v60)
  (at r29 v61)
  (at r46 v62)
  (at r17 v63)
  (free v64)
  (at r54 v65)
  (at r8 v66)
  (at r43 v67)
  (at r21 v68)
  (at r13 v69)
  (at r18 v70)
  (at r4 v71)
  (at r16 v72)
  (at r11 v73)
  (at r58 v74)
  (at r44 v75)
  (at r41 v76)
  (at r42 v77)
  (at r31 v78)
  )
 )
)