(define (problem multirobot_4_2_c4)
 (:domain multirobot)
 (:objects
  v0 r9
  v1 r13
  v2 r17
  v3 r19
  v4 r15
  v5 r14
  v6 r20
  v7 r10
  v8 r12
  v9 r18
  v10
  v11 r7
  v12 r4
  v13 r8
  v14
  v15 r16
  v16 r6
  v17 r5
  v18 r2
  v19 r3
  v20 r11
 )
 (:init
  (at r9 v0)
  (at r13 v1)
  (at r17 v2)
  (at r19 v3)
  (at r15 v4)
  (at r14 v5)
  (at r20 v6)
  (at r10 v7)
  (at r12 v8)
  (at r18 v9)
  (free v10)
  (at r7 v11)
  (at r4 v12)
  (at r8 v13)
  (free v14)
  (at r16 v15)
  (at r6 v16)
  (at r5 v17)
  (at r2 v18)
  (at r3 v19)
  (at r11 v20)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v20)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v9)
  (adjacent v4 v14)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v15)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
 )
 (:goal
  (and
  (at r18 v0)
  (at r5 v1)
  (at r17 v2)
  (at r10 v3)
  (at r11 v4)
  (free v5)
  (at r4 v6)
  (at r7 v7)
  (at r2 v8)
  (at r6 v9)
  (at r19 v10)
  (at r3 v11)
  (at r9 v12)
  (at r15 v13)
  (at r14 v14)
  (free v15)
  (at r12 v16)
  (at r13 v17)
  (at r16 v18)
  (at r8 v19)
  (at r20 v20)
  )
 )
)