(define (problem multirobot_20_2_c8)
 (:domain multirobot)
 (:objects
  v0 r29
  v1 r7
  v2 r63
  v3 r67
  v4 r9
  v5 r39
  v6 r34
  v7 r71
  v8 r55
  v9 r32
  v10 r81
  v11 r10
  v12 r59
  v13 r17
  v14 r49
  v15 r82
  v16 r18
  v17 r12
  v18 r64
  v19 r56
  v20 r2
  v21 r3
  v22 r13
  v23 r83
  v24 r66
  v25 r43
  v26 r41
  v27 r14
  v28 r58
  v29 r80
  v30 r45
  v31 r31
  v32 r77
  v33 r4
  v34 r79
  v35 r60
  v36 r5
  v37 r69
  v38 r23
  v39 r27
  v40 r37
  v41 r28
  v42 r35
  v43 r62
  v44 r24
  v45 r47
  v46 r72
  v47 r52
  v48 r25
  v49 r46
  v50 r68
  v51 r8
  v52 r50
  v53 r78
  v54 r48
  v55 r22
  v56 r73
  v57 r51
  v58
  v59 r40
  v60 r44
  v61 r53
  v62 r65
  v63 r21
  v64 r16
  v65 r75
  v66 r70
  v67 r76
  v68 r36
  v69 r30
  v70 r42
  v71 r20
  v72 r26
  v73
  v74 r15
  v75 r74
  v76 r38
  v77 r11
  v78 r57
  v79 r33
  v80 r54
  v81 r19
  v82 r6
  v83 r61
 )
 (:init
  (at r29 v0)
  (at r7 v1)
  (at r63 v2)
  (at r67 v3)
  (at r9 v4)
  (at r39 v5)
  (at r34 v6)
  (at r71 v7)
  (at r55 v8)
  (at r32 v9)
  (at r81 v10)
  (at r10 v11)
  (at r59 v12)
  (at r17 v13)
  (at r49 v14)
  (at r82 v15)
  (at r18 v16)
  (at r12 v17)
  (at r64 v18)
  (at r56 v19)
  (at r2 v20)
  (at r3 v21)
  (at r13 v22)
  (at r83 v23)
  (at r66 v24)
  (at r43 v25)
  (at r41 v26)
  (at r14 v27)
  (at r58 v28)
  (at r80 v29)
  (at r45 v30)
  (at r31 v31)
  (at r77 v32)
  (at r4 v33)
  (at r79 v34)
  (at r60 v35)
  (at r5 v36)
  (at r69 v37)
  (at r23 v38)
  (at r27 v39)
  (at r37 v40)
  (at r28 v41)
  (at r35 v42)
  (at r62 v43)
  (at r24 v44)
  (at r47 v45)
  (at r72 v46)
  (at r52 v47)
  (at r25 v48)
  (at r46 v49)
  (at r68 v50)
  (at r8 v51)
  (at r50 v52)
  (at r78 v53)
  (at r48 v54)
  (at r22 v55)
  (at r73 v56)
  (at r51 v57)
  (free v58)
  (at r40 v59)
  (at r44 v60)
  (at r53 v61)
  (at r65 v62)
  (at r21 v63)
  (at r16 v64)
  (at r75 v65)
  (at r70 v66)
  (at r76 v67)
  (at r36 v68)
  (at r30 v69)
  (at r42 v70)
  (at r20 v71)
  (at r26 v72)
  (free v73)
  (at r15 v74)
  (at r74 v75)
  (at r38 v76)
  (at r11 v77)
  (at r57 v78)
  (at r33 v79)
  (at r54 v80)
  (at r19 v81)
  (at r6 v82)
  (at r61 v83)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v21)
  (adjacent v3 v4)
  (adjacent v3 v50)
  (adjacent v4 v5)
  (adjacent v4 v20)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v7 v8)
  (adjacent v7 v46)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v39)
  (adjacent v11 v12)
  (adjacent v11 v31)
  (adjacent v12 v13)
  (adjacent v12 v19)
  (adjacent v12 v37)
  (adjacent v12 v47)
  (adjacent v12 v79)
  (adjacent v13 v14)
  (adjacent v13 v38)
  (adjacent v14 v15)
  (adjacent v14 v83)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v16 v25)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v26)
  (adjacent v20 v32)
  (adjacent v21 v22)
  (adjacent v21 v45)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v70)
  (adjacent v23 v77)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v26 v56)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v69)
  (adjacent v30 v31)
  (adjacent v31 v47)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v35 v36)
  (adjacent v35 v46)
  (adjacent v36 v37)
  (adjacent v36 v57)
  (adjacent v38 v39)
  (adjacent v39 v71)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v80)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v48 v49)
  (adjacent v48 v65)
  (adjacent v49 v50)
  (adjacent v50 v64)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v58)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v70)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v76)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
 )
 (:goal
  (and
  (at r5 v0)
  (at r79 v1)
  (free v2)
  (at r25 v3)
  (at r4 v4)
  (at r82 v5)
  (at r77 v6)
  (at r50 v7)
  (at r16 v8)
  (at r41 v9)
  (at r59 v10)
  (at r68 v11)
  (at r22 v12)
  (at r64 v13)
  (at r39 v14)
  (at r33 v15)
  (at r12 v16)
  (at r37 v17)
  (at r2 v18)
  (at r70 v19)
  (at r23 v20)
  (at r72 v21)
  (at r26 v22)
  (at r31 v23)
  (at r78 v24)
  (at r13 v25)
  (at r75 v26)
  (at r56 v27)
  (at r73 v28)
  (at r9 v29)
  (at r52 v30)
  (at r24 v31)
  (at r76 v32)
  (at r30 v33)
  (at r80 v34)
  (at r49 v35)
  (at r46 v36)
  (at r55 v37)
  (at r48 v38)
  (at r57 v39)
  (at r83 v40)
  (at r60 v41)
  (at r58 v42)
  (at r15 v43)
  (at r45 v44)
  (at r29 v45)
  (free v46)
  (at r65 v47)
  (at r36 v48)
  (at r81 v49)
  (at r40 v50)
  (at r63 v51)
  (at r8 v52)
  (at r3 v53)
  (at r44 v54)
  (at r7 v55)
  (at r66 v56)
  (at r51 v57)
  (at r67 v58)
  (at r11 v59)
  (at r74 v60)
  (at r18 v61)
  (at r71 v62)
  (at r62 v63)
  (at r10 v64)
  (at r20 v65)
  (at r6 v66)
  (at r35 v67)
  (at r43 v68)
  (at r34 v69)
  (at r61 v70)
  (at r32 v71)
  (at r27 v72)
  (at r53 v73)
  (at r17 v74)
  (at r54 v75)
  (at r14 v76)
  (at r21 v77)
  (at r69 v78)
  (at r47 v79)
  (at r19 v80)
  (at r28 v81)
  (at r42 v82)
  (at r38 v83)
  )
 )
)