(define (problem multirobot_24_2_c5)
 (:domain multirobot)
 (:objects
  v0 r46
  v1 r29
  v2
  v3 r14
  v4 r26
  v5 r77
  v6 r42
  v7 r22
  v8 r74
  v9 r11
  v10 r62
  v11 r32
  v12 r25
  v13 r36
  v14 r45
  v15 r48
  v16 r13
  v17 r23
  v18 r43
  v19 r66
  v20 r55
  v21 r33
  v22 r35
  v23 r18
  v24 r69
  v25 r19
  v26 r5
  v27 r70
  v28 r68
  v29 r63
  v30 r3
  v31 r51
  v32 r82
  v33 r49
  v34 r30
  v35
  v36 r4
  v37 r58
  v38 r37
  v39 r27
  v40 r40
  v41 r10
  v42 r78
  v43 r54
  v44 r81
  v45 r57
  v46 r44
  v47 r16
  v48 r39
  v49 r38
  v50 r65
  v51 r15
  v52 r59
  v53 r20
  v54 r64
  v55 r21
  v56 r67
  v57 r80
  v58 r72
  v59 r31
  v60 r79
  v61 r75
  v62 r12
  v63 r34
  v64 r50
  v65 r73
  v66 r24
  v67 r47
  v68 r2
  v69 r6
  v70 r71
  v71 r61
  v72 r17
  v73 r76
  v74 r53
  v75 r41
  v76 r9
  v77 r60
  v78 r83
  v79 r7
  v80 r56
  v81 r52
  v82 r8
  v83 r28
 )
 (:init
  (at r46 v0)
  (at r29 v1)
  (free v2)
  (at r14 v3)
  (at r26 v4)
  (at r77 v5)
  (at r42 v6)
  (at r22 v7)
  (at r74 v8)
  (at r11 v9)
  (at r62 v10)
  (at r32 v11)
  (at r25 v12)
  (at r36 v13)
  (at r45 v14)
  (at r48 v15)
  (at r13 v16)
  (at r23 v17)
  (at r43 v18)
  (at r66 v19)
  (at r55 v20)
  (at r33 v21)
  (at r35 v22)
  (at r18 v23)
  (at r69 v24)
  (at r19 v25)
  (at r5 v26)
  (at r70 v27)
  (at r68 v28)
  (at r63 v29)
  (at r3 v30)
  (at r51 v31)
  (at r82 v32)
  (at r49 v33)
  (at r30 v34)
  (free v35)
  (at r4 v36)
  (at r58 v37)
  (at r37 v38)
  (at r27 v39)
  (at r40 v40)
  (at r10 v41)
  (at r78 v42)
  (at r54 v43)
  (at r81 v44)
  (at r57 v45)
  (at r44 v46)
  (at r16 v47)
  (at r39 v48)
  (at r38 v49)
  (at r65 v50)
  (at r15 v51)
  (at r59 v52)
  (at r20 v53)
  (at r64 v54)
  (at r21 v55)
  (at r67 v56)
  (at r80 v57)
  (at r72 v58)
  (at r31 v59)
  (at r79 v60)
  (at r75 v61)
  (at r12 v62)
  (at r34 v63)
  (at r50 v64)
  (at r73 v65)
  (at r24 v66)
  (at r47 v67)
  (at r2 v68)
  (at r6 v69)
  (at r71 v70)
  (at r61 v71)
  (at r17 v72)
  (at r76 v73)
  (at r53 v74)
  (at r41 v75)
  (at r9 v76)
  (at r60 v77)
  (at r83 v78)
  (at r7 v79)
  (at r56 v80)
  (at r52 v81)
  (at r8 v82)
  (at r28 v83)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v16)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v65)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v19)
  (adjacent v3 v4)
  (adjacent v3 v20)
  (adjacent v3 v27)
  (adjacent v3 v35)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v6 v9)
  (adjacent v6 v21)
  (adjacent v7 v8)
  (adjacent v7 v39)
  (adjacent v8 v9)
  (adjacent v8 v34)
  (adjacent v10 v11)
  (adjacent v10 v54)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v40)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v14 v15)
  (adjacent v15 v55)
  (adjacent v15 v66)
  (adjacent v16 v17)
  (adjacent v16 v48)
  (adjacent v17 v18)
  (adjacent v17 v25)
  (adjacent v17 v26)
  (adjacent v17 v53)
  (adjacent v18 v38)
  (adjacent v18 v76)
  (adjacent v19 v20)
  (adjacent v20 v72)
  (adjacent v21 v22)
  (adjacent v21 v32)
  (adjacent v21 v45)
  (adjacent v21 v69)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v26)
  (adjacent v23 v39)
  (adjacent v23 v42)
  (adjacent v24 v25)
  (adjacent v24 v31)
  (adjacent v24 v61)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v68)
  (adjacent v29 v30)
  (adjacent v29 v46)
  (adjacent v30 v31)
  (adjacent v30 v47)
  (adjacent v30 v62)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v77)
  (adjacent v35 v36)
  (adjacent v35 v73)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v41)
  (adjacent v39 v54)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v75)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v58)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v59)
  (adjacent v53 v83)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v62 v76)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
 )
 (:goal
  (and
  (at r25 v0)
  (at r58 v1)
  (at r27 v2)
  (at r14 v3)
  (at r59 v4)
  (at r74 v5)
  (at r81 v6)
  (at r78 v7)
  (at r67 v8)
  (at r36 v9)
  (at r72 v10)
  (at r83 v11)
  (at r37 v12)
  (at r41 v13)
  (at r49 v14)
  (at r8 v15)
  (at r19 v16)
  (at r76 v17)
  (at r48 v18)
  (at r51 v19)
  (at r32 v20)
  (at r18 v21)
  (at r17 v22)
  (at r57 v23)
  (at r9 v24)
  (at r11 v25)
  (at r22 v26)
  (at r50 v27)
  (at r5 v28)
  (at r7 v29)
  (at r15 v30)
  (at r16 v31)
  (at r62 v32)
  (at r24 v33)
  (at r55 v34)
  (at r77 v35)
  (at r73 v36)
  (at r23 v37)
  (at r42 v38)
  (at r75 v39)
  (at r40 v40)
  (at r39 v41)
  (at r45 v42)
  (free v43)
  (at r31 v44)
  (at r26 v45)
  (at r79 v46)
  (at r70 v47)
  (at r47 v48)
  (at r38 v49)
  (at r56 v50)
  (at r30 v51)
  (at r35 v52)
  (at r53 v53)
  (at r65 v54)
  (at r29 v55)
  (at r61 v56)
  (at r34 v57)
  (at r43 v58)
  (at r33 v59)
  (free v60)
  (at r69 v61)
  (at r64 v62)
  (at r12 v63)
  (at r46 v64)
  (at r60 v65)
  (at r44 v66)
  (at r80 v67)
  (at r71 v68)
  (at r63 v69)
  (at r13 v70)
  (at r82 v71)
  (at r2 v72)
  (at r6 v73)
  (at r10 v74)
  (at r28 v75)
  (at r3 v76)
  (at r66 v77)
  (at r52 v78)
  (at r54 v79)
  (at r68 v80)
  (at r21 v81)
  (at r4 v82)
  (at r20 v83)
  )
 )
)