(define (problem multirobot_4_50%_c0)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r15
  v2 r13
  v3
  v4 r18
  v5
  v6 r14
  v7 r22
  v8 r21
  v9
  v10
  v11
  v12 r19
  v13
  v14 r20
  v15 r17
  v16
  v17 r12
  v18
  v19
  v20
  v21
  v22
 )
 (:init
  (at r16 v0)
  (at r15 v1)
  (at r13 v2)
  (free v3)
  (at r18 v4)
  (free v5)
  (at r14 v6)
  (at r22 v7)
  (at r21 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r19 v12)
  (free v13)
  (at r20 v14)
  (at r17 v15)
  (free v16)
  (at r12 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v16)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v14)
  (adjacent v3 v4)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v22)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
 )
 (:goal
  (and
  (free v0)
  (at r22 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r14 v7)
  (at r12 v8)
  (at r13 v9)
  (at r21 v10)
  (at r18 v11)
  (free v12)
  (at r15 v13)
  (free v14)
  (at r19 v15)
  (free v16)
  (at r17 v17)
  (free v18)
  (at r20 v19)
  (at r16 v20)
  (free v21)
  (free v22)
  )
 )
)