(define (problem multirobot_18_50%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r50
  v2
  v3 r58
  v4
  v5
  v6
  v7 r56
  v8 r57
  v9 r44
  v10
  v11 r71
  v12
  v13 r43
  v14
  v15 r77
  v16
  v17
  v18
  v19 r38
  v20 r74
  v21
  v22 r62
  v23 r45
  v24
  v25 r70
  v26 r66
  v27
  v28
  v29 r61
  v30 r67
  v31
  v32 r76
  v33 r40
  v34
  v35
  v36
  v37 r41
  v38
  v39
  v40
  v41 r53
  v42 r68
  v43 r48
  v44 r78
  v45 r42
  v46
  v47
  v48
  v49
  v50 r64
  v51 r79
  v52 r80
  v53 r65
  v54 r73
  v55
  v56
  v57 r51
  v58
  v59 r47
  v60 r63
  v61 r69
  v62
  v63 r59
  v64
  v65 r46
  v66 r72
  v67 r54
  v68
  v69 r52
  v70 r39
  v71 r55
  v72
  v73
  v74 r60
  v75
  v76
  v77 r49
  v78
  v79
  v80 r75
 )
 (:init
  (free v0)
  (at r50 v1)
  (free v2)
  (at r58 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r56 v7)
  (at r57 v8)
  (at r44 v9)
  (free v10)
  (at r71 v11)
  (free v12)
  (at r43 v13)
  (free v14)
  (at r77 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r38 v19)
  (at r74 v20)
  (free v21)
  (at r62 v22)
  (at r45 v23)
  (free v24)
  (at r70 v25)
  (at r66 v26)
  (free v27)
  (free v28)
  (at r61 v29)
  (at r67 v30)
  (free v31)
  (at r76 v32)
  (at r40 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r41 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r53 v41)
  (at r68 v42)
  (at r48 v43)
  (at r78 v44)
  (at r42 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r64 v50)
  (at r79 v51)
  (at r80 v52)
  (at r65 v53)
  (at r73 v54)
  (free v55)
  (free v56)
  (at r51 v57)
  (free v58)
  (at r47 v59)
  (at r63 v60)
  (at r69 v61)
  (free v62)
  (at r59 v63)
  (free v64)
  (at r46 v65)
  (at r72 v66)
  (at r54 v67)
  (free v68)
  (at r52 v69)
  (at r39 v70)
  (at r55 v71)
  (free v72)
  (free v73)
  (at r60 v74)
  (free v75)
  (free v76)
  (at r49 v77)
  (free v78)
  (free v79)
  (at r75 v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v1 v73)
  (adjacent v1 v74)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v56)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v23)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v14)
  (adjacent v8 v38)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v50)
  (adjacent v13 v57)
  (adjacent v14 v15)
  (adjacent v14 v22)
  (adjacent v14 v32)
  (adjacent v14 v68)
  (adjacent v15 v16)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v44)
  (adjacent v17 v62)
  (adjacent v18 v19)
  (adjacent v18 v51)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v23 v30)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v63)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v37)
  (adjacent v27 v75)
  (adjacent v28 v29)
  (adjacent v28 v44)
  (adjacent v30 v31)
  (adjacent v30 v69)
  (adjacent v32 v33)
  (adjacent v32 v47)
  (adjacent v33 v34)
  (adjacent v33 v43)
  (adjacent v33 v55)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v46)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v45)
  (adjacent v43 v56)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v80)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r70 v0)
  (at r64 v1)
  (at r57 v2)
  (at r65 v3)
  (free v4)
  (free v5)
  (at r49 v6)
  (at r55 v7)
  (at r43 v8)
  (at r78 v9)
  (free v10)
  (at r50 v11)
  (free v12)
  (at r68 v13)
  (at r76 v14)
  (free v15)
  (at r45 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r66 v20)
  (at r71 v21)
  (at r80 v22)
  (at r38 v23)
  (at r61 v24)
  (at r52 v25)
  (at r60 v26)
  (free v27)
  (at r74 v28)
  (free v29)
  (free v30)
  (at r46 v31)
  (at r47 v32)
  (free v33)
  (at r58 v34)
  (free v35)
  (at r69 v36)
  (free v37)
  (at r48 v38)
  (at r73 v39)
  (free v40)
  (at r59 v41)
  (free v42)
  (at r41 v43)
  (at r53 v44)
  (at r79 v45)
  (at r40 v46)
  (at r75 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (at r51 v52)
  (at r44 v53)
  (free v54)
  (at r54 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r63 v63)
  (at r56 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r39 v69)
  (free v70)
  (at r42 v71)
  (at r67 v72)
  (free v73)
  (at r72 v74)
  (at r77 v75)
  (free v76)
  (at r62 v77)
  (free v78)
  (free v79)
  (free v80)
  )
 )
)