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deconflictiontools / src / main / resources / problems / urbanmc-dense.xml @ 0:5f9515950f17

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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<multiagentproblem>
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<environment>
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<obstacles>
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<obstacle>
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<point id="0">
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<x>152</x>
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<y>0</y>
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</point>
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<point id="1">
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<x>149</x>
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<y>45</y>
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</point>
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<point id="2">
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<x>359</x>
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<y>46</y>
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</point>
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<point id="3">
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<x>364</x>
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<y>6</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>149</x>
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<y>236</y>
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</point>
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<point id="1">
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<x>361</x>
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<y>172</y>
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</point>
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<point id="2">
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<x>362</x>
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<y>329</y>
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</point>
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<point id="3">
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<x>149</x>
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<y>399</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>152</x>
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<y>533</y>
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</point>
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<point id="1">
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<x>364</x>
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<y>459</y>
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</point>
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<point id="2">
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<x>361</x>
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<y>757</y>
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</point>
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<point id="3">
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<x>150</x>
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<y>755</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>149</x>
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<y>882</y>
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</point>
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<point id="1">
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<x>364</x>
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<y>883</y>
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</point>
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<point id="2">
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<x>358</x>
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<y>1002</y>
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</point>
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<point id="3">
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<x>152</x>
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<y>999</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>514</x>
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<y>66</y>
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</point>
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<point id="1">
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<x>724</x>
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<y>67</y>
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</point>
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<point id="2">
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<x>727</x>
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<y>219</y>
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</point>
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<point id="3">
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<x>517</x>
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<y>290</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>617</x>
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<y>587</y>
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</point>
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<point id="1">
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<x>590</x>
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<y>594</y>
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</point>
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<point id="2">
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<x>568</x>
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<y>610</y>
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</point>
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<point id="3">
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<x>550</x>
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<y>632</y>
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</point>
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<point id="4">
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<x>541</x>
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<y>657</y>
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</point>
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<point id="5">
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<x>539</x>
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<y>684</y>
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</point>
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<point id="6">
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<x>545</x>
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<y>705</y>
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</point>
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<point id="7">
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<x>554</x>
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<y>723</y>
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</point>
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<point id="8">
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<x>565</x>
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<y>736</y>
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</point>
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<point id="9">
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<x>579</x>
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<y>747</y>
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</point>
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<point id="10">
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<x>597</x>
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<y>756</y>
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</point>
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<point id="11">
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<x>619</x>
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<y>760</y>
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</point>
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<point id="12">
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<x>668</x>
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<y>760</y>
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</point>
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<point id="13">
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<x>688</x>
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<y>756</y>
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</point>
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<point id="14">
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<x>708</x>
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<y>745</y>
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</point>
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<point id="15">
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<x>728</x>
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<y>725</y>
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</point>
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<point id="16">
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<x>740</x>
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<y>705</y>
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</point>
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<point id="17">
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<x>746</x>
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<y>685</y>
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</point>
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<point id="18">
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<x>744</x>
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<y>657</y>
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</point>
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<point id="19">
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<x>736</x>
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<y>632</y>
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</point>
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<point id="20">
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<x>720</x>
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<y>611</y>
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</point>
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<point id="21">
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<x>690</x>
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<y>593</y>
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</point>
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<point id="22">
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<x>669</x>
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<y>587</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>512</x>
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<y>904</y>
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</point>
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<point id="1">
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<x>512</x>
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<y>1000</y>
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</point>
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<point id="2">
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<x>781</x>
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<y>997</y>
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</point>
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<point id="3">
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<x>778</x>
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<y>902</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>877</x>
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<y>903</y>
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</point>
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<point id="1">
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<x>879</x>
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<y>999</y>
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</point>
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<point id="2">
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<x>997</x>
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<y>997</y>
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</point>
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<point id="3">
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<x>994</x>
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<y>902</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>878</x>
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<y>588</y>
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</point>
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<point id="1">
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<x>879</x>
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<y>754</y>
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</point>
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<point id="2">
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<x>997</x>
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<y>751</y>
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</point>
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<point id="3">
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<x>991</x>
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<y>589</y>
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</point>
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</obstacle>
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<obstacle>
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<point id="0">
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<x>880</x>
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<y>1</y>
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</point>
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<point id="1">
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<x>878</x>
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<y>177</y>
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</point>
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<point id="2">
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<x>995</x>
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<y>133</y>
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</point>
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<point id="3">
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<x>995</x>
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<y>3</y>
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</point>
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</obstacle>
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</obstacles>
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<bounds>
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<point>
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<x>0</x>
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<y>0</y>
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</point>
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<point>
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<x>1000</x>
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<y>1000</y>
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</point>
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</bounds>
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</environment>
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<agents>
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<agent>
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<start>
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<point>
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<x>90</x>
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<y>66</y>
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</point>
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</start>
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<target>
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<point>
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<x>426</x>
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<y>706</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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<agent>
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<start>
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<point>
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<x>187</x>
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<y>444</y>
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</point>
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</start>
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<target>
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<point>
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<x>807</x>
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<y>134</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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<agent>
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<start>
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<point>
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<x>288</x>
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<y>112</y>
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</point>
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</start>
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<target>
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<point>
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<x>642</x>
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<y>838</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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<agent>
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<start>
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<point>
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<x>904</x>
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<y>306</y>
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</point>
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</start>
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<target>
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<point>
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<x>66</x>
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<y>334</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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<agent>
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<start>
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<point>
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<x>897</x>
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<y>827</y>
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</point>
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</start>
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<target>
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<point>
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<x>66</x>
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<y>180</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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<agent>
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<start>
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<point>
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<x>877</x>
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<y>513</y>
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</point>
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</start>
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<target>
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<point>
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<x>206</x>
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<y>140</y>
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</point>
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</target>
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<radius>50</radius>
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<maxspeed>1</maxspeed>
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</agent>
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</agents>
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</multiagentproblem>