(define (problem multirobot_15_50%_c4)
 (:domain multirobot)
 (:objects
  v0 r34
  v1
  v2 r31
  v3
  v4 r41
  v5 r45
  v6 r48
  v7
  v8 r58
  v9 r32
  v10 r42
  v11
  v12 r51
  v13 r64
  v14 r40
  v15
  v16 r68
  v17
  v18 r35
  v19 r28
  v20 r70
  v21 r27
  v22 r37
  v23 r50
  v24 r29
  v25
  v26
  v27 r44
  v28
  v29 r72
  v30
  v31 r36
  v32
  v33
  v34 r30
  v35
  v36
  v37 r66
  v38
  v39 r56
  v40 r39
  v41 r63
  v42
  v43
  v44 r47
  v45 r49
  v46
  v47
  v48 r38
  v49 r60
  v50 r67
  v51 r59
  v52 r61
  v53
  v54 r54
  v55 r52
  v56 r55
  v57 r43
  v58 r57
  v59 r46
  v60 r33
  v61 r69
  v62
  v63
  v64
  v65
  v66 r71
  v67 r53
  v68
  v69 r62
  v70 r65
  v71
  v72
 )
 (:init
  (at r34 v0)
  (free v1)
  (at r31 v2)
  (free v3)
  (at r41 v4)
  (at r45 v5)
  (at r48 v6)
  (free v7)
  (at r58 v8)
  (at r32 v9)
  (at r42 v10)
  (free v11)
  (at r51 v12)
  (at r64 v13)
  (at r40 v14)
  (free v15)
  (at r68 v16)
  (free v17)
  (at r35 v18)
  (at r28 v19)
  (at r70 v20)
  (at r27 v21)
  (at r37 v22)
  (at r50 v23)
  (at r29 v24)
  (free v25)
  (free v26)
  (at r44 v27)
  (free v28)
  (at r72 v29)
  (free v30)
  (at r36 v31)
  (free v32)
  (free v33)
  (at r30 v34)
  (free v35)
  (free v36)
  (at r66 v37)
  (free v38)
  (at r56 v39)
  (at r39 v40)
  (at r63 v41)
  (free v42)
  (free v43)
  (at r47 v44)
  (at r49 v45)
  (free v46)
  (free v47)
  (at r38 v48)
  (at r60 v49)
  (at r67 v50)
  (at r59 v51)
  (at r61 v52)
  (free v53)
  (at r54 v54)
  (at r52 v55)
  (at r55 v56)
  (at r43 v57)
  (at r57 v58)
  (at r46 v59)
  (at r33 v60)
  (at r69 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (at r71 v66)
  (at r53 v67)
  (free v68)
  (at r62 v69)
  (at r65 v70)
  (free v71)
  (free v72)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v27)
  (adjacent v1 v2)
  (adjacent v1 v58)
  (adjacent v1 v72)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v4 v9)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v5 v32)
  (adjacent v5 v47)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v6 v52)
  (adjacent v7 v8)
  (adjacent v7 v33)
  (adjacent v7 v39)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v9 v16)
  (adjacent v10 v11)
  (adjacent v10 v37)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v12 v13)
  (adjacent v12 v40)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v60)
  (adjacent v17 v18)
  (adjacent v17 v61)
  (adjacent v18 v19)
  (adjacent v18 v26)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v40)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v38)
  (adjacent v24 v67)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v51)
  (adjacent v31 v32)
  (adjacent v31 v48)
  (adjacent v32 v56)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v41)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v66)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v57)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v57)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
 )
 (:goal
  (and
  (free v0)
  (at r70 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r67 v6)
  (free v7)
  (at r49 v8)
  (at r39 v9)
  (at r66 v10)
  (free v11)
  (at r45 v12)
  (free v13)
  (at r63 v14)
  (at r53 v15)
  (at r32 v16)
  (free v17)
  (at r56 v18)
  (at r61 v19)
  (at r62 v20)
  (at r40 v21)
  (at r43 v22)
  (at r58 v23)
  (free v24)
  (at r31 v25)
  (at r54 v26)
  (at r55 v27)
  (free v28)
  (at r72 v29)
  (free v30)
  (at r46 v31)
  (at r60 v32)
  (free v33)
  (at r36 v34)
  (free v35)
  (at r35 v36)
  (free v37)
  (at r52 v38)
  (free v39)
  (at r71 v40)
  (free v41)
  (at r30 v42)
  (at r34 v43)
  (at r28 v44)
  (at r37 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r33 v50)
  (free v51)
  (at r69 v52)
  (at r41 v53)
  (free v54)
  (free v55)
  (at r50 v56)
  (at r27 v57)
  (at r64 v58)
  (at r44 v59)
  (at r38 v60)
  (at r42 v61)
  (at r68 v62)
  (at r57 v63)
  (free v64)
  (at r29 v65)
  (at r65 v66)
  (at r51 v67)
  (at r47 v68)
  (free v69)
  (at r48 v70)
  (at r59 v71)
  (free v72)
  )
 )
)