(define (problem multirobot_4_2_c9)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r17
  v2 r4
  v3 r12
  v4 r2
  v5 r15
  v6 r3
  v7
  v8
  v9 r5
  v10 r14
  v11 r11
  v12 r9
  v13 r19
  v14 r13
  v15 r10
  v16 r6
  v17 r8
  v18 r18
  v19 r7
 )
 (:init
  (at r16 v0)
  (at r17 v1)
  (at r4 v2)
  (at r12 v3)
  (at r2 v4)
  (at r15 v5)
  (at r3 v6)
  (free v7)
  (free v8)
  (at r5 v9)
  (at r14 v10)
  (at r11 v11)
  (at r9 v12)
  (at r19 v13)
  (at r13 v14)
  (at r10 v15)
  (at r6 v16)
  (at r8 v17)
  (at r18 v18)
  (at r7 v19)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v7)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v12)
  (adjacent v4 v13)
  (adjacent v5 v6)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v13 v19)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
 )
 (:goal
  (and
  (at r3 v0)
  (free v1)
  (at r13 v2)
  (at r5 v3)
  (at r14 v4)
  (at r8 v5)
  (at r15 v6)
  (at r16 v7)
  (at r4 v8)
  (at r9 v9)
  (at r10 v10)
  (at r17 v11)
  (at r18 v12)
  (at r12 v13)
  (at r2 v14)
  (at r6 v15)
  (at r11 v16)
  (at r7 v17)
  (at r19 v18)
  (free v19)
  )
 )
)