(define (problem multirobot_18_50%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r74
  v4
  v5
  v6 r60
  v7 r77
  v8 r57
  v9 r50
  v10 r49
  v11
  v12 r46
  v13
  v14
  v15 r73
  v16 r61
  v17
  v18 r67
  v19
  v20 r45
  v21 r55
  v22
  v23
  v24
  v25
  v26
  v27
  v28
  v29
  v30
  v31 r76
  v32 r44
  v33 r52
  v34 r56
  v35 r70
  v36
  v37 r75
  v38
  v39
  v40
  v41
  v42
  v43
  v44 r43
  v45 r68
  v46
  v47 r51
  v48 r65
  v49 r42
  v50
  v51 r69
  v52 r78
  v53 r81
  v54
  v55
  v56
  v57
  v58
  v59
  v60 r47
  v61 r59
  v62
  v63 r63
  v64 r64
  v65 r66
  v66 r62
  v67
  v68 r72
  v69
  v70
  v71
  v72 r58
  v73 r53
  v74
  v75
  v76
  v77 r80
  v78 r54
  v79 r79
  v80 r48
  v81 r71
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r74 v3)
  (free v4)
  (free v5)
  (at r60 v6)
  (at r77 v7)
  (at r57 v8)
  (at r50 v9)
  (at r49 v10)
  (free v11)
  (at r46 v12)
  (free v13)
  (free v14)
  (at r73 v15)
  (at r61 v16)
  (free v17)
  (at r67 v18)
  (free v19)
  (at r45 v20)
  (at r55 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r76 v31)
  (at r44 v32)
  (at r52 v33)
  (at r56 v34)
  (at r70 v35)
  (free v36)
  (at r75 v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r43 v44)
  (at r68 v45)
  (free v46)
  (at r51 v47)
  (at r65 v48)
  (at r42 v49)
  (free v50)
  (at r69 v51)
  (at r78 v52)
  (at r81 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r47 v60)
  (at r59 v61)
  (free v62)
  (at r63 v63)
  (at r64 v64)
  (at r66 v65)
  (at r62 v66)
  (free v67)
  (at r72 v68)
  (free v69)
  (free v70)
  (free v71)
  (at r58 v72)
  (at r53 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r80 v77)
  (at r54 v78)
  (at r79 v79)
  (at r48 v80)
  (at r71 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v27)
  (adjacent v3 v63)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v5 v48)
  (adjacent v6 v7)
  (adjacent v6 v57)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v8 v9)
  (adjacent v8 v42)
  (adjacent v8 v60)
  (adjacent v10 v11)
  (adjacent v10 v28)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v52)
  (adjacent v14 v15)
  (adjacent v14 v47)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v16 v22)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v17 v35)
  (adjacent v17 v58)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v22 v59)
  (adjacent v23 v24)
  (adjacent v23 v81)
  (adjacent v24 v25)
  (adjacent v24 v77)
  (adjacent v25 v26)
  (adjacent v25 v72)
  (adjacent v26 v27)
  (adjacent v26 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v68)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v64)
  (adjacent v34 v40)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v41)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v53)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v42 v71)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v77)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v69)
  (adjacent v55 v76)
  (adjacent v56 v57)
  (adjacent v57 v78)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
 )
 (:goal
  (and
  (at r70 v0)
  (at r44 v1)
  (at r79 v2)
  (free v3)
  (at r53 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r77 v8)
  (at r62 v9)
  (at r46 v10)
  (at r68 v11)
  (free v12)
  (at r71 v13)
  (at r67 v14)
  (at r81 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r56 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r48 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r80 v29)
  (free v30)
  (at r78 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r45 v35)
  (at r58 v36)
  (at r60 v37)
  (at r55 v38)
  (at r59 v39)
  (free v40)
  (at r72 v41)
  (at r74 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r64 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (at r65 v52)
  (at r66 v53)
  (at r69 v54)
  (free v55)
  (at r75 v56)
  (free v57)
  (at r54 v58)
  (at r73 v59)
  (at r42 v60)
  (at r49 v61)
  (free v62)
  (free v63)
  (at r63 v64)
  (free v65)
  (at r76 v66)
  (free v67)
  (at r57 v68)
  (at r43 v69)
  (at r51 v70)
  (free v71)
  (at r52 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r47 v79)
  (at r61 v80)
  (at r50 v81)
  )
 )
)