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root / src / main / resources / problems / 78_obstacles.xml @ 142:05685a983b4a

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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>312,235 313,234 321,234 322,233 323,234 327,234 328,233 329,234 354,234 355,235 355,245 356,246 356,248 355,249 355,265 353,267 315,267 314,268 312,268 310,266 311,265 311,258 310,257 311,256 311,239 312,238 </obstacle>
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<obstacle>206,234 207,233 247,233 249,235 249,265 247,267 210,267 209,266 206,266 205,265 205,264 206,263 206,256 205,255 205,254 206,253 205,252 205,251 206,250 </obstacle>
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<obstacle>312,156 313,155 315,155 316,154 354,154 356,156 356,170 355,171 355,180 354,181 354,185 355,186 353,188 313,188 311,186 311,162 312,161 312,160 311,159 312,158 </obstacle>
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</obstacles>
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</environment>
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<graph>
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1310,425 ;1299,426 1310,428 ;1299,426 1287,426 ;1299,426 1311,428 ;1299,426 1313,425 ;1299,426 1313,428 ;1299,426 1322,424 ;1299,426 1276,429 ;1299,426 1327,424 ;1299,426 1271,429 ;1299,426 1270,428 ;1299,426 1329,427 ;1299,426 1269,430 ;1299,426 1334,425 ;1299,426 1262,430 ;1299,426 1337,427 ;1299,426 1340,424 ;1299,426 1341,424 ;1299,426 1341,422 ;1299,426 1342,422 ;1296,424 1299,426 ;1296,424 1297,428 ;1296,424 1292,425 ;1296,424 1289,426 ;1296,424 1287,426 ;1296,424 1276,429 ;1296,424 1271,429 ;1296,424 1270,428 ;1296,424 1269,430 ;1296,424 1262,430 ;1289,426 1287,426 ;1289,426 1292,425 ;1289,426 1296,424 ;1289,426 1297,428 ;1289,426 1299,426 ;1289,426 1276,429 ;1289,426 1304,426 ;1289,426 1271,429 ;1289,426 1270,428 ;1289,426 1309,425 ;1289,426 1269,430 ;1289,426 1310,425 ;1289,426 1310,428 ;1289,426 1311,428 ;1289,426 1313,425 ;1289,426 1313,428 ;1289,426 1262,430 ;1289,426 1322,424 ;1289,426 1327,424 ;1289,426 1329,427 ;1287,426 1289,426 ;1287,426 1292,425 ;1287,426 1296,424 ;1287,426 1297,428 ;1287,426 1276,429 ;1287,426 1299,426 ;1287,426 1271,429 ;1287,426 1304,426 ;1287,426 1270,428 ;1287,426 1269,430 ;1287,426 1309,425 ;1287,426 1310,425 ;1287,426 1310,428 ;1287,426 1311,428 ;1287,426 1262,430 ;1287,426 1313,425 ;1287,426 1313,428 ;1287,426 1322,424 ;1287,426 1327,424 ;1287,426 1329,427 ;1270,428 1271,429 ;1270,428 1269,430 ;1270,428 1276,429 ;1270,428 1262,430 ;1270,428 1287,426 ;1270,428 1289,426 ;1270,428 1292,425 ;1270,428 1296,424 ;1270,428 1297,428 ;1270,428 1299,426 ;1270,428 1304,426 ;1270,428 1309,425 ;1270,428 1310,428 ;1270,428 1310,425 ;1270,428 1311,428 ;1270,428 1313,428 ;1270,428 1313,425 ;1368,459 1369,459 ;1368,459 1369,460 ;1368,459 1366,459 ;1368,459 1353,458 ;1368,459 1352,458 ;1368,459 1343,458 ;1368,459 1341,458 ;1368,459 1324,458 ;1366,459 1368,459 ;1366,459 1369,459 ;1366,459 1369,460 ;1366,459 1353,458 ;1366,459 1352,458 ;1366,459 1343,458 ;1366,459 1341,458 ;1366,459 1324,458 ;1369,460 1369,459 ;1369,460 1368,459 ;1369,460 1366,459 ;1369,459 1368,459 ;1369,459 1369,460 ;1369,459 1366,459 ;1369,459 1353,458 ;1369,459 1352,458 ;1369,459 1343,458 ;1369,459 1341,458 ;1353,458 1352,458 ;1353,458 1343,458 ;1353,458 1341,458 ;1353,458 1366,459 ;1353,458 1368,459 ;1353,458 1369,459 ;1353,458 1324,458 ;1353,458 1318,458 ;1352,458 1353,458 ;1352,458 1343,458 ;1352,458 1341,458 ;1352,458 1366,459 ;1352,458 1368,459 ;1352,458 1369,459 ;1352,458 1324,458 ;1352,458 1318,458 ;1341,458 1343,458 ;1341,458 1352,458 ;1341,458 1353,458 ;1341,458 1324,458 ;1341,458 1318,458 ;1341,458 1366,459 ;1341,458 1368,459 ;1341,458 1369,459 ;1343,458 1341,458 ;1343,458 1352,458 ;1343,458 1353,458 ;1343,458 1324,458 ;1343,458 1366,459 ;1343,458 1318,458 ;1343,458 1368,459 ;1343,458 1369,459 ;1324,458 1318,458 ;1324,458 1341,458 ;1324,458 1343,458 ;1324,458 1352,458 ;1324,458 1353,458 ;1324,458 1366,459 ;1324,458 1368,459 ;1318,458 1324,458 ;1318,458 1341,458 ;1318,458 1343,458 ;1318,458 1352,458 ;1318,458 1353,458 ;1299,458 1303,459 ;1303,459 1299,458 ;</edges>
16
</graph>
17
<agents>
18
<agent>
19
<start>
20
<point>
21
<x>108</x>
22
<y>107</y>
23
</point>
24
</start>
25
<target>
26
<point>
27
<x>251</x>
28
<y>222</y>
29
</point>
30
</target>
31
<radius>10</radius>
32
<maxspeed>1</maxspeed>
33
</agent>
34
<agent>
35
<start>
36
<point>
37
<x>749</x>
38
<y>468</y>
39
</point>
40
</start>
41
<target>
42
<point>
43
<x>207</x>
44
<y>200</y>
45
</point>
46
</target>
47
<radius>10</radius>
48
<maxspeed>1</maxspeed>
49
</agent>
50
<agent>
51
<start>
52
<point>
53
<x>219</x>
54
<y>200</y>
55
</point>
56
</start>
57
<target>
58
<point>
59
<x>235</x>
60
<y>144</y>
61
</point>
62
</target>
63
<radius>10</radius>
64
<maxspeed>1</maxspeed>
65
</agent>
66
<agent>
67
<start>
68
<point>
69
<x>260</x>
70
<y>235</y>
71
</point>
72
</start>
73
<target>
74
<point>
75
<x>108</x>
76
<y>189</y>
77
</point>
78
</target>
79
<radius>10</radius>
80
<maxspeed>1</maxspeed>
81
</agent>
82
<agent>
83
<start>
84
<point>
85
<x>242</x>
86
<y>131</y>
87
</point>
88
</start>
89
<target>
90
<point>
91
<x>300</x>
92
<y>234</y>
93
</point>
94
</target>
95
<radius>10</radius>
96
<maxspeed>1</maxspeed>
97
</agent>
98
</agents>
99
</multiagentproblem>