(define (problem multirobot_22_2_c4)
 (:domain multirobot)
 (:objects
  v0 r11
  v1 r51
  v2 r50
  v3 r80
  v4 r72
  v5 r86
  v6 r63
  v7 r52
  v8 r31
  v9 r54
  v10 r48
  v11 r37
  v12 r3
  v13 r69
  v14 r55
  v15 r38
  v16 r35
  v17 r70
  v18 r67
  v19 r60
  v20 r83
  v21 r58
  v22 r20
  v23 r14
  v24
  v25 r26
  v26 r28
  v27 r53
  v28 r61
  v29 r30
  v30 r59
  v31 r84
  v32 r74
  v33 r62
  v34 r9
  v35 r10
  v36 r57
  v37 r71
  v38 r65
  v39 r7
  v40 r40
  v41 r27
  v42
  v43 r15
  v44 r81
  v45 r73
  v46 r79
  v47 r68
  v48 r41
  v49 r5
  v50 r39
  v51 r2
  v52 r34
  v53 r36
  v54 r56
  v55 r44
  v56 r85
  v57 r49
  v58 r66
  v59 r4
  v60 r18
  v61 r47
  v62 r21
  v63 r19
  v64 r12
  v65 r78
  v66 r82
  v67 r29
  v68 r25
  v69 r87
  v70 r42
  v71 r8
  v72 r45
  v73 r77
  v74 r23
  v75 r33
  v76 r46
  v77 r32
  v78 r6
  v79 r22
  v80 r24
  v81 r16
  v82 r76
  v83 r64
  v84 r13
  v85 r17
  v86 r43
  v87 r75
 )
 (:init
  (at r11 v0)
  (at r51 v1)
  (at r50 v2)
  (at r80 v3)
  (at r72 v4)
  (at r86 v5)
  (at r63 v6)
  (at r52 v7)
  (at r31 v8)
  (at r54 v9)
  (at r48 v10)
  (at r37 v11)
  (at r3 v12)
  (at r69 v13)
  (at r55 v14)
  (at r38 v15)
  (at r35 v16)
  (at r70 v17)
  (at r67 v18)
  (at r60 v19)
  (at r83 v20)
  (at r58 v21)
  (at r20 v22)
  (at r14 v23)
  (free v24)
  (at r26 v25)
  (at r28 v26)
  (at r53 v27)
  (at r61 v28)
  (at r30 v29)
  (at r59 v30)
  (at r84 v31)
  (at r74 v32)
  (at r62 v33)
  (at r9 v34)
  (at r10 v35)
  (at r57 v36)
  (at r71 v37)
  (at r65 v38)
  (at r7 v39)
  (at r40 v40)
  (at r27 v41)
  (free v42)
  (at r15 v43)
  (at r81 v44)
  (at r73 v45)
  (at r79 v46)
  (at r68 v47)
  (at r41 v48)
  (at r5 v49)
  (at r39 v50)
  (at r2 v51)
  (at r34 v52)
  (at r36 v53)
  (at r56 v54)
  (at r44 v55)
  (at r85 v56)
  (at r49 v57)
  (at r66 v58)
  (at r4 v59)
  (at r18 v60)
  (at r47 v61)
  (at r21 v62)
  (at r19 v63)
  (at r12 v64)
  (at r78 v65)
  (at r82 v66)
  (at r29 v67)
  (at r25 v68)
  (at r87 v69)
  (at r42 v70)
  (at r8 v71)
  (at r45 v72)
  (at r77 v73)
  (at r23 v74)
  (at r33 v75)
  (at r46 v76)
  (at r32 v77)
  (at r6 v78)
  (at r22 v79)
  (at r24 v80)
  (at r16 v81)
  (at r76 v82)
  (at r64 v83)
  (at r13 v84)
  (at r17 v85)
  (at r43 v86)
  (at r75 v87)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v14)
  (adjacent v0 v51)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v28)
  (adjacent v3 v4)
  (adjacent v3 v61)
  (adjacent v3 v80)
  (adjacent v4 v13)
  (adjacent v4 v14)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v7 v17)
  (adjacent v7 v45)
  (adjacent v8 v9)
  (adjacent v8 v71)
  (adjacent v8 v72)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v23)
  (adjacent v11 v35)
  (adjacent v12 v13)
  (adjacent v13 v22)
  (adjacent v13 v29)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v79)
  (adjacent v15 v16)
  (adjacent v16 v46)
  (adjacent v17 v18)
  (adjacent v17 v41)
  (adjacent v17 v75)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v81)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v24)
  (adjacent v22 v51)
  (adjacent v22 v55)
  (adjacent v22 v65)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v66)
  (adjacent v27 v28)
  (adjacent v27 v52)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v36)
  (adjacent v33 v54)
  (adjacent v33 v76)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v42)
  (adjacent v38 v39)
  (adjacent v38 v50)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v42 v72)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v73)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v60)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v80)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v82)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v81)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v87)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
 )
 (:goal
  (and
  (at r26 v0)
  (at r20 v1)
  (at r50 v2)
  (at r65 v3)
  (at r61 v4)
  (at r11 v5)
  (at r77 v6)
  (at r60 v7)
  (free v8)
  (at r75 v9)
  (at r82 v10)
  (at r80 v11)
  (at r78 v12)
  (at r12 v13)
  (at r28 v14)
  (at r21 v15)
  (at r72 v16)
  (at r17 v17)
  (at r76 v18)
  (at r85 v19)
  (at r68 v20)
  (at r58 v21)
  (at r51 v22)
  (at r87 v23)
  (at r13 v24)
  (at r49 v25)
  (at r67 v26)
  (at r44 v27)
  (at r46 v28)
  (at r39 v29)
  (at r10 v30)
  (at r45 v31)
  (at r81 v32)
  (at r31 v33)
  (at r34 v34)
  (at r64 v35)
  (at r74 v36)
  (at r47 v37)
  (at r2 v38)
  (at r18 v39)
  (at r37 v40)
  (at r24 v41)
  (at r62 v42)
  (at r42 v43)
  (at r57 v44)
  (at r84 v45)
  (at r22 v46)
  (at r29 v47)
  (at r71 v48)
  (at r19 v49)
  (at r73 v50)
  (at r33 v51)
  (free v52)
  (at r63 v53)
  (at r54 v54)
  (at r3 v55)
  (at r59 v56)
  (at r55 v57)
  (at r35 v58)
  (at r25 v59)
  (at r40 v60)
  (at r7 v61)
  (at r8 v62)
  (at r83 v63)
  (at r56 v64)
  (at r32 v65)
  (at r52 v66)
  (at r41 v67)
  (at r5 v68)
  (at r14 v69)
  (at r36 v70)
  (at r23 v71)
  (at r16 v72)
  (at r86 v73)
  (at r30 v74)
  (at r53 v75)
  (at r66 v76)
  (at r69 v77)
  (at r79 v78)
  (at r6 v79)
  (at r48 v80)
  (at r70 v81)
  (at r15 v82)
  (at r38 v83)
  (at r4 v84)
  (at r43 v85)
  (at r9 v86)
  (at r27 v87)
  )
 )
)