(define (problem multirobot_20_2_c4)
 (:domain multirobot)
 (:objects
  v0 r23
  v1 r65
  v2 r8
  v3 r53
  v4 r31
  v5 r41
  v6 r12
  v7 r32
  v8 r11
  v9 r7
  v10 r55
  v11 r35
  v12 r2
  v13 r66
  v14 r26
  v15
  v16 r5
  v17 r73
  v18 r71
  v19 r80
  v20 r18
  v21 r36
  v22 r51
  v23 r45
  v24 r14
  v25 r16
  v26 r33
  v27 r86
  v28 r10
  v29 r85
  v30 r67
  v31 r43
  v32 r84
  v33 r79
  v34 r27
  v35 r64
  v36 r13
  v37 r76
  v38 r25
  v39 r21
  v40 r4
  v41 r78
  v42 r75
  v43 r58
  v44 r72
  v45 r77
  v46 r48
  v47 r46
  v48 r47
  v49 r3
  v50 r62
  v51 r42
  v52 r70
  v53 r9
  v54 r34
  v55 r37
  v56 r40
  v57 r20
  v58 r54
  v59 r56
  v60 r50
  v61 r39
  v62 r6
  v63 r17
  v64 r19
  v65 r44
  v66 r83
  v67 r52
  v68 r15
  v69 r81
  v70 r69
  v71 r22
  v72 r61
  v73 r29
  v74 r63
  v75 r60
  v76 r38
  v77 r82
  v78 r59
  v79 r24
  v80 r30
  v81 r57
  v82
  v83 r28
  v84 r68
  v85 r74
  v86 r49
 )
 (:init
  (at r23 v0)
  (at r65 v1)
  (at r8 v2)
  (at r53 v3)
  (at r31 v4)
  (at r41 v5)
  (at r12 v6)
  (at r32 v7)
  (at r11 v8)
  (at r7 v9)
  (at r55 v10)
  (at r35 v11)
  (at r2 v12)
  (at r66 v13)
  (at r26 v14)
  (free v15)
  (at r5 v16)
  (at r73 v17)
  (at r71 v18)
  (at r80 v19)
  (at r18 v20)
  (at r36 v21)
  (at r51 v22)
  (at r45 v23)
  (at r14 v24)
  (at r16 v25)
  (at r33 v26)
  (at r86 v27)
  (at r10 v28)
  (at r85 v29)
  (at r67 v30)
  (at r43 v31)
  (at r84 v32)
  (at r79 v33)
  (at r27 v34)
  (at r64 v35)
  (at r13 v36)
  (at r76 v37)
  (at r25 v38)
  (at r21 v39)
  (at r4 v40)
  (at r78 v41)
  (at r75 v42)
  (at r58 v43)
  (at r72 v44)
  (at r77 v45)
  (at r48 v46)
  (at r46 v47)
  (at r47 v48)
  (at r3 v49)
  (at r62 v50)
  (at r42 v51)
  (at r70 v52)
  (at r9 v53)
  (at r34 v54)
  (at r37 v55)
  (at r40 v56)
  (at r20 v57)
  (at r54 v58)
  (at r56 v59)
  (at r50 v60)
  (at r39 v61)
  (at r6 v62)
  (at r17 v63)
  (at r19 v64)
  (at r44 v65)
  (at r83 v66)
  (at r52 v67)
  (at r15 v68)
  (at r81 v69)
  (at r69 v70)
  (at r22 v71)
  (at r61 v72)
  (at r29 v73)
  (at r63 v74)
  (at r60 v75)
  (at r38 v76)
  (at r82 v77)
  (at r59 v78)
  (at r24 v79)
  (at r30 v80)
  (at r57 v81)
  (free v82)
  (at r28 v83)
  (at r68 v84)
  (at r74 v85)
  (at r49 v86)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v35)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v16)
  (adjacent v1 v22)
  (adjacent v1 v76)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v36)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v44)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v23)
  (adjacent v8 v40)
  (adjacent v8 v49)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v11 v12)
  (adjacent v11 v36)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v63)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v27)
  (adjacent v19 v76)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v37)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v34)
  (adjacent v26 v61)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v59)
  (adjacent v31 v32)
  (adjacent v31 v63)
  (adjacent v32 v33)
  (adjacent v32 v57)
  (adjacent v33 v34)
  (adjacent v33 v60)
  (adjacent v34 v35)
  (adjacent v34 v39)
  (adjacent v34 v70)
  (adjacent v35 v56)
  (adjacent v36 v45)
  (adjacent v37 v38)
  (adjacent v37 v50)
  (adjacent v38 v39)
  (adjacent v38 v62)
  (adjacent v40 v41)
  (adjacent v40 v64)
  (adjacent v40 v75)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v60)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v83)
  (adjacent v50 v51)
  (adjacent v50 v71)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v77)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v64 v82)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v86)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
 )
 (:goal
  (and
  (at r84 v0)
  (free v1)
  (at r13 v2)
  (at r58 v3)
  (at r65 v4)
  (at r2 v5)
  (at r4 v6)
  (at r75 v7)
  (at r5 v8)
  (at r36 v9)
  (at r7 v10)
  (at r49 v11)
  (at r51 v12)
  (at r45 v13)
  (at r81 v14)
  (at r55 v15)
  (at r57 v16)
  (at r9 v17)
  (at r78 v18)
  (at r63 v19)
  (at r82 v20)
  (at r67 v21)
  (at r41 v22)
  (at r52 v23)
  (at r21 v24)
  (at r25 v25)
  (at r68 v26)
  (at r70 v27)
  (at r32 v28)
  (at r44 v29)
  (at r10 v30)
  (at r69 v31)
  (at r54 v32)
  (at r73 v33)
  (at r28 v34)
  (at r20 v35)
  (at r46 v36)
  (at r18 v37)
  (at r31 v38)
  (at r66 v39)
  (at r56 v40)
  (at r71 v41)
  (at r26 v42)
  (at r77 v43)
  (at r12 v44)
  (at r79 v45)
  (at r40 v46)
  (at r8 v47)
  (at r62 v48)
  (at r6 v49)
  (at r16 v50)
  (at r22 v51)
  (at r38 v52)
  (at r17 v53)
  (at r29 v54)
  (at r48 v55)
  (at r11 v56)
  (at r33 v57)
  (at r53 v58)
  (at r43 v59)
  (at r74 v60)
  (at r83 v61)
  (at r19 v62)
  (free v63)
  (at r3 v64)
  (at r80 v65)
  (at r27 v66)
  (at r24 v67)
  (at r61 v68)
  (at r50 v69)
  (at r14 v70)
  (at r64 v71)
  (at r59 v72)
  (at r85 v73)
  (at r86 v74)
  (at r35 v75)
  (at r37 v76)
  (at r47 v77)
  (at r39 v78)
  (at r72 v79)
  (at r60 v80)
  (at r15 v81)
  (at r42 v82)
  (at r76 v83)
  (at r34 v84)
  (at r30 v85)
  (at r23 v86)
  )
 )
)