PDDL definitions

domain.pddl

(define (domain congdomain)
  (:requirements :adl)
  (:predicates 
    (noteq ?x ?y)
    (location ?c)
    (at ?r ?c)
    (adj ?x ?y)
    (robot ?r)
  )

  (:action move
    :parameters (?robot ?from ?to)
    :precondition (and (location ?from) (location ?to) (at ?robot ?from) (adj ?from ?to) (robot ?robot) )
    :effect (and (at ?robot ?to) (not (at ?robot ?from)))))

problem.pddl

(define (problem robots)
(:domain congdomain)
(:objects r1 r2 r3 r4
          c0 c1 c2 c3 c4 c5 c6 c7 c8 c9 c10 c11
)
(:init
(location c0)
(location c1)
(location c2)
(location c3)
(location c4)
(location c5)
(location c6)
(location c7)
(location c8)
(location c9)
(location c10)
(location c11)
(robot r1)
(robot r2)
(robot r3)
(robot r4)
(adj c1 c5)
(adj c2 c5)
(adj c3 c5)
(adj c4 c5)
(adj c1 c6)
(adj c2 c6)
(adj c3 c6)
(adj c4 c6)
(adj c5 c7)
(adj c6 c7)
(adj c7 c8)
(adj c7 c9)
(adj c7 c10)
(adj c7 c11)
(at r1 c1)
(at r2 c2)
(at r3 c3)
(at r4 c4)
)

(:goal
(and (at r1 c8) (at r2 c9) (at r3 c10) (at r4 c11))
)

)