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<?xml version='1.0' encoding='ISO-8859-1'?>
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<multiagentproblem>
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  <environment>
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    <boundary>4680,640 4390,650 4300,680 4250,650 4120,670 4110,660 3840,660 3770,680 3750,660 3760,630 4130,630 4130,410 4070,430 4060,450 4040,420 4090,350 4130,350 4140,330 4140,270 4120,260 4120,210 4090,190 3940,190 3930,210 3880,190 3790,190 3750,240 3690,270 3680,300 3690,370 3680,540 3700,540 3710,570 3670,680 3450,690 3200,680 3190,700 2930,710 2910,680 2910,590 2930,530 2940,240 2890,220 2900,290 2880,380 2860,360 2870,220 2790,210 2800,290 2790,360 2770,370 2750,330 2730,210 2710,210 2700,230 2690,200 2670,200 2670,220 2690,230 2690,320 2670,370 2630,320 2630,300 2580,250 2580,230 2550,200 2520,200 2500,240 2560,300 2560,340 2530,380 2490,360 2480,620 2610,630 2620,640 2610,650 2540,650 2540,670 2610,670 2620,640 2690,650 2700,620 2780,620 2790,640 2770,650 2770,670 2800,670 2810,640 2850,650 2840,710 2500,700 2450,710 2440,730 2410,710 2340,700 2220,710 2000,700 1910,790 1860,800 1860,820 1830,830 1820,870 1800,880 1790,920 1760,930 1650,1050 1580,1060 1330,1050 1300,1070 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1380,3680 1370,3560 1390,3530 1430,3530 1420,3500 1440,3490 1440,3460 1430,3450 1400,3460 1380,3440 1370,3370 1390,3350 1470,3340 1560,3240 1650,3240 1660,3190 1680,3170 1740,3170 1750,3210 1860,3200 1900,3250 1870,3280 1870,3340 1890,3370 1880,3480 1900,3700 1860,3710 1820,3660 1820,3640 1770,3620 1780,3570 1680,3560 1650,3570 1640,3590 1630,3570 1580,3570 1590,3600 1670,3630 1620,3640 1630,3680 1650,3690 1640,3710 1590,3720 1590,3740 1620,3750 1620,3790 1610,3800 1550,3790 1540,3870 1560,3870 1580,3840 1630,3840 1650,3810 1680,3800 1720,3830 1720,3850 1700,3860 1700,3910 1720,3910 1750,3870 1800,3870 1810,3910 1830,3910 1860,3780 1870,3770 1930,3780 1950,4000 1940,4010 1830,4000 1760,4030 1710,3960 1650,3960 1640,4000 1600,4000 1590,4030 1540,4040 1540,4090 1560,4130 1560,4230 1590,4220 1630,4230 1650,4190 1670,4210 1670,4240 1740,4230 1750,4190 1780,4160 1840,4160 1830,4130 1840,4080 1940,4070 1960,4090 1950,4120 1960,4220 1990,4220 2020,4250 2000,4270 1990,4400 1900,4450 1850,4390 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2740,4540 2770,4540 2790,4560 2750,4680 2740,4670 2740,4640 2700,4640 2700,4660 2670,4670 2670,4750 2700,4750 2740,4810 2790,4840 2760,4850 2760,4870 2780,4870 2810,4900 2900,4910 2890,4850 2900,4820 2860,4720 2890,4630 2850,4600 2840,4540 2850,4490 2870,4470 2900,4470 2940,4560 2940,4580 2910,4610 2920,4720 2960,4730 2940,4790 2960,4800 2970,4850 3070,4840 3090,4880 3110,4880 3100,4820 3040,4790 3070,4780 3080,4750 3100,4790 3130,4780 3130,4760 3110,4750 3110,4730 3140,4710 3130,4650 3120,4640 3090,4650 3070,4630 3090,4570 3060,4550 3050,4490 3000,4510 2970,4470 3030,4440 3070,4450 3180,4440 3190,4560 3220,4600 3220,4690 3200,4710 3210,4850 3300,4860 3310,4840 3390,4830 3450,4840 3460,5030 3430,5090 3410,5010 3390,4990 3330,4980 3380,4970 3350,4890 3230,4900 3220,4930 3210,4900 3190,4900 3190,4920 3220,4930 3220,4950 3260,5000 3250,5010 3200,4980 3150,5000 3140,5040 3160,5040 3170,5070 3190,5080 3130,5100 3120,5080 3100,5080 3100,5120 3150,5140 3160,5110 3200,5110 3210,5140 3240,5140 3250,5100 3270,5170 3310,5200 3310,5250 3350,5230 3380,5260 3340,5270 3350,5310 3370,5310 3380,5260 3450,5320 3440,5350 3480,5360 3480,5450 3540,5460 3490,5470 3500,5590 3670,5580 3730,5550 3740,5570 3780,5570 3770,5530 3800,5510 3810,5560 3840,5580 3910,5570 4030,5580 4060,5550 4100,5560 4180,5540 4180,5470 4120,5440 4080,5440 4070,5400 4000,5370 4000,5310 3980,5270 3990,5170 3970,5030 4010,5000 4040,5000 4050,4950 4180,4960 4120,5030 4120,5090 4160,5090 4180,5110 4180,5130 4140,5180 4140,5250 4120,5260 4120,5280 4160,5300 4220,5390 4200,5430 4210,5540 4370,5550 4390,5530 4640,5520 4630,5300 4560,5310 4540,5280 4620,5240 4660,5240 4670,5260 4690,5260 4700,5210 4810,5190 4950,5190 4930,5120 4860,5120 4790,5140 4770,5130 4790,5100 4830,5100 4910,5060 4900,5030 4850,5050 4810,5040 4900,4950 4920,4950 4920,4930 4550,4950 4580,5180 4560,5200 4530,5180 4540,5130 4520,5000 4520,4870 4500,4810 4530,4790 4540,4840 4580,4850 4560,4920 4670,4920 4680,4870 4790,4870 4820,4880 4830,4900 4920,4900 4910,4710 4900,4690 4630,4710 4620,4730 4520,4730 4500,4710 4500,4670 4590,4640 4630,4660 4690,4610 4700,4630 4770,4620 4920,4630 4920,4610 4890,4590 4880,4560 4890,4540 4970,4550 4970,4530 5000,4520 5010,4500 5160,4460 5160,4430 4970,4480 4950,4430 4900,4440 4870,4430 4920,4400 4950,4410 4950,4390 4920,4380 4930,4340 4900,4340 4860,4390 4740,4470 4730,4460 4840,4370 4850,4340 4610,4350 4610,4390 4560,4410 4540,4360 4520,4360 4540,4440 4510,4450 4510,4520 4540,4580 4520,4600 4490,4590 4480,4460 4430,4450 4480,4410 4480,4360 4450,4310 4470,4300 4450,4060 4460,4050 4500,4060 4530,4110 4510,4180 4500,4320 4570,4310 4580,4270 4590,4320 4610,4320 4600,4270 4620,4250 4630,4280 4660,4280 4670,4250 4690,4290 4710,4290 4720,4310 4840,4310 4850,4280 4790,4270 4780,4230 4750,4220 4740,4200 4750,4190 4780,4200 4790,4150 4820,4120 4860,4120 4860,4100 4750,4060 4780,4000 4730,4010 4720,4050 4700,4030 4650,4050 4640,4020 4620,4020 4600,3990 4580,3990 4570,4010 4560,3990 4470,3990 4430,3960 4440,3930 4370,3960 4360,3950 4370,3890 4390,3880 4410,3900 4440,3900 4430,3720 4520,3710 4640,3950 4680,3950 4690,3920 4660,3870 4690,3850 4680,3810 4690,3800 4750,3830 4740,3850 4720,3850 4720,3880 4800,3920 4800,3900 4740,3850 4770,3840 4780,3810 4810,3820 4810,3740 4850,3720 4850,3690 4800,3670 4770,3680 4760,3640 4720,3630 4610,3660 4580,3630 4560,3630 4550,3650 4460,3650 4430,3630 4420,3510 4430,3480 4450,3480 4470,3510 4460,3550 4480,3550 4490,3530 4540,3590 4570,3590 4570,3530 4590,3520 4600,3490 4610,3510 4660,3500 4670,3470 4640,3460 4640,3390 4620,3380 4460,3420 4420,3390 4430,3270 4410,3110 4430,3090 4490,3090 4510,3140 4530,3150 4500,3160 4510,3240 4490,3250 4480,3290 4490,3350 4800,3360 4790,3330 4590,3160 4610,3150 4770,3250 4800,3240 4790,3200 4590,3120 4660,3110 4790,3140 4790,3120 4760,3110 4820,3100 4820,3080 4710,3070 4900,3050 4900,3010 4870,3000 4860,3030 4720,3020 4430,3030 4410,3010 4420,2940 4450,2930 4460,2960 4520,2960 4540,2990 4640,2980 4810,2990 4810,2930 4790,2900 4810,2860 4810,2760 4900,2680 4900,2630 4870,2620 4870,2650 4830,2660 4820,2720 4780,2630 4800,2620 4800,2560 4870,2510 4870,2490 4840,2480 4850,2430 4890,2420 4910,2390 4950,2370 4980,2380 5040,2350 5040,2320 4990,2300 4960,2340 4900,2350 4870,2400 4830,2410 4820,2440 4780,2370 4790,2290 4770,2280 4770,2190 4630,2190 4620,2220 4610,2190 4560,2200 4550,2230 4520,2220 4510,2190 4440,2190 4440,2240 4460,2260 4500,2250 4520,2260 4530,2290 4420,2300 4370,2270 4330,2280 4280,2270 4270,2390 4280,2480 4300,2490 4280,2500 4290,2540 4250,2560 4240,2550 4250,2520 4220,2510 4210,2480 4170,2460 4220,2450 4210,2380 4190,2370 4200,2360 4190,2290 4070,2280 3990,2290 3990,2350 3970,2370 3960,2640 4130,2640 4190,2620 4250,2620 4280,2640 4270,2850 4310,3370 4300,3380 4310,3680 4220,3740 3930,3820 3800,3830 3600,3810 3550,3820 3440,3790 3420,3770 3350,3770 3340,3750 3310,3740 3290,3230 3260,3010 3260,2830 3240,2640 3250,2550 3230,2500 3220,2380 3260,2360 3280,2370 3580,2360 3590,2380 3670,2360 3930,2370 3940,2270 3920,2220 3260,2230 3250,2240 3210,2240 3190,2220 3220,2180 3210,2130 3220,2110 3280,2130 3250,2160 3250,2190 3310,2180 3300,2080 3330,2020 3390,2030 3410,2090 3430,2090 3440,2070 3450,2120 3520,2110 3530,2030 3540,2060 3590,2060 3570,2000 3600,1990 3640,2040 3610,2050 3610,2070 3650,2070 3660,2050 3680,2050 3690,2080 3720,2080 3730,2060 3780,2050 3780,2020 3750,2020 3720,2060 3690,2060 3680,2030 3720,2020 3720,1990 3650,1990 3640,1960 3620,1950 3530,1950 3510,1930 3500,1870 3510,1850 3560,1840 3530,1780 3580,1760 3640,1770 3640,1730 3620,1720 3640,1710 3640,1690 3590,1690 3570,1720 3560,1690 3520,1670 3520,1600 3560,1540 3610,1530 3640,1540 3660,1570 3670,1710 3750,1710 3790,1690 3820,1700 3830,1650 3800,1640 3820,1630 3830,1580 3820,1550 3830,1380 3850,1440 3880,1450 3850,1460 3850,1590 3870,1710 3890,1720 3850,1730 3850,1750 3890,1760 3900,1840 3920,1840 3910,1780 3920,1560 3900,1520 3910,1450 3870,1430 3900,1420 3890,1390 3900,1320 3920,1300 3950,1310 3950,1400 3980,1390 3990,1410 4140,1400 4150,1440 4170,1450 4150,1460 4160,1520 4280,1500 4280,1480 4310,1460 4400,1460 4430,1480 4530,1480 4540,1460 4550,1480 4710,1470 4700,1250 4680,1240 4310,1250 4300,1270 4310,1390 4290,1400 4270,1360 4260,1230 4270,1020 4330,1050 4310,1060 4300,1120 4380,1120 4360,1080 4400,1050 4410,1020 4500,1030 4570,1020 4570,940 4410,940 4370,960 4280,960 4260,940 4250,750 4260,740 4300,750 4290,780 4300,910 4490,910 4500,840 4540,840 4590,890 4640,910 4640,890 4680,870 4670,830 4690,810 </boundary>
5
    <obstacles>
6
      <obstacle>3440,5240 3460,5240 3470,5250 3470,5300 3460,5310 3450,5300 3450,5280 3440,5270 3440,5260 3430,5250 </obstacle>
7
      <obstacle>3430,5130 3450,5130 3460,5140 3460,5150 3450,5160 3450,5190 3440,5200 3430,5190 3430,5150 3420,5140 </obstacle>
8
      <obstacle>4820,5060 4800,5080 4790,5080 4790,5090 4780,5100 4760,5100 4750,5110 4740,5110 4730,5100 4750,5080 4760,5080 4790,5050 4810,5050 </obstacle>
9
      <obstacle>3710,4970 3720,4980 3720,4990 3740,4990 3740,4980 3750,4970 3760,4980 3760,5000 3780,5000 3790,4990 3830,4990 3840,5000 3840,5040 3850,5050 3830,5070 3830,5090 3840,5100 3840,5120 3850,5130 3840,5140 3820,5140 3820,5170 3830,5170 3850,5190 3840,5200 3830,5200 3830,5210 3820,5220 3820,5250 3830,5260 3830,5290 3840,5300 3840,5310 3830,5320 3820,5320 3810,5310 3810,5290 3790,5290 3790,5320 3800,5320 3810,5330 3810,5340 3800,5350 3800,5370 3830,5370 3830,5330 3840,5320 3850,5330 3850,5390 3840,5400 3830,5390 3810,5390 3810,5410 3800,5420 3800,5440 3810,5440 3820,5450 3820,5460 3810,5470 3800,5470 3780,5450 3780,5420 3760,5420 3750,5430 3740,5430 3730,5420 3710,5420 3700,5410 3700,5400 3710,5390 3720,5390 3720,5370 3730,5360 3750,5360 3750,5310 3730,5310 3720,5320 3710,5320 3700,5310 3700,5260 3690,5250 3690,5240 3680,5230 3680,5180 3670,5170 3690,5150 3690,5130 3670,5130 3660,5120 3670,5110 3670,5090 3660,5090 3650,5080 3660,5070 3660,5050 3670,5040 3670,5010 3660,5000 3670,4990 3700,4990 3700,4980 </obstacle>
10
      <obstacle>3690,4960 3690,4940 3700,4930 3750,4930 3760,4940 3750,4950 3710,4950 3710,4960 3700,4970 </obstacle>
11
      <obstacle>2250,4830 2260,4840 2260,4860 2250,4870 2240,4870 2230,4880 2220,4870 2220,4860 2230,4850 2240,4850 2240,4840 </obstacle>
12
      <obstacle>4150,4740 4170,4760 4160,4770 4160,4800 4170,4810 4170,4840 4160,4850 4120,4850 4110,4860 4050,4860 4040,4870 4030,4860 4030,4810 4040,4800 4050,4800 4050,4780 4040,4770 4050,4760 4060,4760 4070,4770 4070,4790 4130,4790 4130,4780 4140,4770 4140,4750 </obstacle>
13
      <obstacle>2760,4710 2770,4700 2790,4700 2810,4720 2790,4740 </obstacle>
14
      <obstacle>4070,4620 4070,4610 4080,4600 4100,4600 4100,4580 4110,4570 4120,4580 4130,4580 4150,4600 4150,4610 4140,4620 4090,4620 4080,4630 </obstacle>
15
      <obstacle>4100,4530 4110,4520 4130,4520 4140,4530 4140,4550 4130,4560 4120,4560 4100,4540 </obstacle>
16
      <obstacle>4090,4510 4070,4530 4040,4530 4040,4540 4030,4550 4000,4550 3990,4540 3990,4520 4000,4510 4060,4510 4060,4500 4070,4490 </obstacle>
17
      <obstacle>3720,4410 3730,4420 3740,4420 3750,4430 3750,4570 3760,4580 3760,4620 3770,4630 3770,4640 3760,4650 3660,4650 3650,4660 3610,4660 3600,4650 3600,4600 3590,4590 3590,4500 3580,4490 3580,4440 3600,4420 3680,4420 3690,4410 </obstacle>
18
      <obstacle>1450,4370 1460,4360 1470,4360 1490,4380 1490,4390 1480,4400 1460,4400 1450,4390 </obstacle>
19
      <obstacle>1370,4320 1380,4310 1420,4310 1430,4320 1420,4330 1380,4330 </obstacle>
20
      <obstacle>2440,4290 2450,4300 2450,4330 2460,4340 2450,4350 2440,4350 2430,4340 2410,4340 2400,4330 2420,4310 2430,4310 2430,4300 </obstacle>
21
      <obstacle>2650,4260 2650,4280 2640,4290 2630,4290 2630,4310 2620,4320 2610,4320 2600,4330 2590,4320 2570,4320 2560,4330 2540,4310 2540,4300 2560,4280 2570,4290 2570,4300 2590,4300 2590,4290 2600,4280 2610,4280 2610,4260 2620,4250 2640,4250 </obstacle>
22
      <obstacle>2650,4200 2620,4230 2610,4230 2600,4240 2540,4240 2530,4230 2530,4220 2540,4210 2600,4210 2600,4190 2610,4180 2620,4190 2640,4190 </obstacle>
23
      <obstacle>2410,4190 2420,4180 2430,4190 2430,4200 2450,4200 2460,4210 2450,4220 2430,4220 2420,4230 2410,4220 </obstacle>
24
      <obstacle>3340,4200 3350,4200 3360,4210 3670,4210 3670,4170 3660,4160 3660,4150 3650,4140 3650,4130 3660,4120 3670,4120 3690,4140 3820,4140 3830,4130 3840,4130 3840,4110 3850,4100 3860,4110 3860,4130 3970,4130 3970,4120 3980,4110 3990,4110 4010,4130 4010,4140 4000,4150 4000,4180 4010,4190 4120,4190 4130,4180 4130,4170 4140,4160 4170,4160 4180,4170 4210,4170 4220,4160 4230,4170 4250,4170 4260,4160 4270,4170 4300,4170 4320,4150 4340,4170 4340,4250 4350,4260 4340,4270 4340,4290 4350,4300 4350,4380 4360,4390 4360,4440 4370,4450 4370,4460 4380,4470 4380,4510 4390,4520 4390,4550 4380,4560 4370,4560 4370,4690 4380,4700 4380,4820 4390,4830 4390,4940 4400,4950 4400,5040 4410,5050 4410,5220 4420,5230 4420,5320 4430,5330 4430,5410 4420,5420 4300,5420 4290,5430 4280,5420 4280,5400 4300,5380 4340,5380 4340,5350 4350,5340 4360,5340 4360,5280 4370,5270 4390,5270 4390,5240 4360,5240 4350,5230 4350,5220 4340,5220 4330,5210 4340,5200 4340,5170 4290,5170 4280,5160 4280,5150 4290,5140 4330,5140 4330,5120 4320,5110 4310,5110 4300,5100 4290,5100 4280,5090 4280,5080 4290,5070 4380,5070 4380,5040 4370,5040 4360,5030 4340,5030 4330,5020 4310,5020 4300,5010 4280,5010 4270,5000 4270,4990 4260,4980 4260,4950 4270,4940 4290,4940 4290,4900 4280,4890 4290,4880 4290,4860 4300,4850 4300,4770 4290,4760 4290,4650 4280,4640 4280,4570 4270,4560 4280,4550 4280,4500 4270,4490 4270,4450 4290,4430 4330,4430 4330,4390 4320,4380 4320,4330 4260,4330 4240,4310 4240,4270 4220,4270 4220,4310 4210,4320 4210,4340 4200,4350 4190,4340 4140,4340 4130,4350 4120,4340 4050,4340 4040,4330 4040,4310 4030,4300 4010,4300 4010,4330 4000,4340 3990,4340 3980,4350 3950,4350 3940,4360 3910,4360 3900,4350 3900,4320 3890,4310 3890,4230 3760,4230 3760,4240 3750,4250 3740,4240 3670,4240 3660,4250 3500,4250 3490,4260 3400,4260 3390,4270 3390,4290 3400,4300 3400,4320 3410,4330 3410,4430 3420,4440 3420,4570 3430,4580 3430,4680 3440,4690 3440,4700 3450,4710 3450,4740 3440,4750 3400,4750 3390,4740 3390,4690 3370,4690 3350,4670 3350,4610 3340,4600 3340,4580 3350,4570 3360,4570 3360,4550 3370,4540 3370,4520 3360,4520 3350,4510 3360,4500 3360,4410 3350,4400 3350,4310 3340,4300 3340,4230 3330,4220 3330,4210 </obstacle>
25
      <obstacle>2240,4100 2250,4110 2260,4110 2270,4120 2260,4130 2260,4160 2250,4170 2240,4160 2240,4140 2230,4130 2230,4110 </obstacle>
26
      <obstacle>2890,4090 2900,4100 2900,4110 2890,4120 2880,4120 2870,4130 2860,4130 2850,4120 2850,4110 2860,4100 2880,4100 </obstacle>
27
      <obstacle>2430,4110 2430,4130 2420,4140 2400,4140 2400,4160 2380,4180 2380,4230 2370,4240 2350,4240 2340,4230 2310,4230 2300,4240 2280,4240 2270,4230 2250,4230 2230,4210 2240,4200 2280,4200 2280,4190 2290,4180 2290,4170 2300,4160 2300,4120 2310,4110 2320,4110 2330,4120 2320,4130 2320,4160 2350,4160 2360,4150 2380,4150 2380,4130 2390,4120 2390,4090 2400,4080 </obstacle>
28
      <obstacle>4180,4070 4190,4060 4220,4060 4230,4070 4230,4090 4240,4100 4250,4100 4260,4110 4260,4130 4250,4140 4240,4130 4200,4130 4190,4120 4180,4120 4170,4110 4180,4100 </obstacle>
29
      <obstacle>2350,4050 2360,4050 2370,4060 2370,4070 2380,4080 2360,4100 2340,4100 2330,4090 2330,4070 </obstacle>
30
      <obstacle>2290,4050 2310,4070 2310,4100 2300,4110 2280,4110 2270,4100 2270,4080 2280,4070 2280,4060 </obstacle>
31
      <obstacle>1270,4000 1280,3990 1290,4000 1290,4020 1300,4020 1320,4040 1310,4050 1290,4050 1270,4030 </obstacle>
32
      <obstacle>4050,3950 4090,3950 4100,3960 4110,3960 4120,3970 4120,3980 4130,3990 4130,4020 4120,4030 4090,4030 4090,4050 4100,4060 4090,4070 4080,4070 4070,4080 4060,4080 4050,4070 4050,4060 4030,4040 4030,4020 4010,4020 4000,4010 4010,4000 4020,4000 4020,3990 4030,3980 4030,3970 </obstacle>
33
      <obstacle>1410,3950 1420,3960 1420,3970 1410,3980 1400,3980 1400,3990 1370,4020 1360,4010 1360,3970 1370,3960 1400,3960 </obstacle>
34
      <obstacle>2710,3960 2720,3950 2750,3950 2760,3940 2770,3950 2770,3960 2780,3970 2780,3980 2800,3980 2810,3970 2840,3970 2850,3980 2850,4000 2840,4010 2830,4010 2820,4000 2790,4000 2790,4020 2780,4030 2770,4020 2760,4020 2750,4010 2750,3980 2740,3970 2720,3970 </obstacle>
35
      <obstacle>3640,3990 3640,4000 3650,4010 3650,4040 3630,4060 3620,4060 3610,4070 3600,4070 3600,4080 3590,4090 3580,4090 3570,4080 3570,4050 3560,4040 3550,4040 3540,4030 3520,4030 3520,4040 3500,4060 3480,4060 3470,4070 3470,4100 3480,4110 3470,4120 3460,4120 3450,4130 3440,4130 3430,4120 3430,4110 3400,4110 3390,4100 3380,4100 3370,4090 3370,4060 3380,4050 3380,4040 3400,4020 3410,4020 3420,4030 3450,4030 3450,4020 3460,4010 3460,4000 3470,3990 3470,3970 3480,3960 3480,3950 3500,3930 3510,3930 3520,3940 3530,3940 3540,3950 3540,3960 3550,3970 3550,3980 3590,3980 3600,3970 3620,3970 </obstacle>
36
      <obstacle>4310,3900 4320,3910 4320,3920 4330,3920 4340,3930 4340,3950 4310,3980 4290,3980 4290,4030 4280,4040 4280,4050 4270,4060 4260,4050 4260,4040 4240,4040 4240,4050 4230,4060 4220,4050 4220,4030 4190,4030 4180,4020 4190,4010 4190,3980 4200,3970 4200,3960 4210,3950 4220,3950 4230,3940 4240,3950 4270,3950 4280,3960 4300,3960 4300,3920 4280,3920 4270,3910 4270,3900 4280,3890 4290,3900 </obstacle>
37
      <obstacle>2950,3860 2960,3860 2970,3870 2970,3890 2960,3900 2950,3890 2940,3890 2930,3880 </obstacle>
38
      <obstacle>2760,3890 2770,3880 2790,3880 2790,3870 2800,3860 2800,3850 2810,3840 2840,3840 2860,3860 2890,3860 2900,3870 2890,3880 2890,3910 2910,3910 2920,3900 2940,3920 2940,3930 2950,3930 2960,3940 2950,3950 2950,3980 2940,3990 2920,3970 2910,3970 2890,3950 2860,3950 2840,3930 2830,3930 2820,3920 2820,3910 2810,3910 2800,3900 2770,3900 </obstacle>
39
      <obstacle>2770,3860 2770,3880 2760,3890 2700,3890 2700,3920 2650,3970 2590,3970 2580,3960 2580,3950 2590,3940 2600,3940 2610,3930 2620,3940 2640,3940 2640,3920 2650,3910 2650,3890 2630,3890 2620,3880 2610,3880 2600,3870 2590,3870 2580,3860 2590,3850 2670,3850 2680,3840 2690,3850 2690,3860 2730,3860 2740,3850 2760,3850 </obstacle>
40
      <obstacle>2280,3830 2280,3810 2300,3790 2520,3790 2530,3800 2520,3810 2520,3820 2510,3830 2460,3830 2450,3840 2440,3830 2370,3830 2360,3840 2290,3840 </obstacle>
41
      <obstacle>3150,3740 3170,3760 3170,3770 3160,3780 3160,3810 3150,3820 3130,3820 3130,3850 3140,3860 3140,4090 3150,4100 3150,4190 3160,4200 3150,4210 3150,4250 3160,4260 3160,4310 3170,4310 3180,4320 3170,4330 3080,4330 3070,4340 3010,4340 2970,4300 2970,4290 2940,4290 2930,4280 2930,4260 2910,4260 2910,4270 2900,4280 2890,4280 2880,4270 2860,4270 2860,4290 2850,4300 2810,4300 2800,4310 2790,4300 2770,4300 2760,4290 2760,4280 2740,4280 2740,4300 2730,4310 2710,4310 2700,4300 2700,4290 2680,4270 2680,4260 2670,4250 2660,4250 2650,4240 2660,4230 2680,4230 2680,4220 2690,4210 2690,4180 2700,4170 2720,4170 2730,4180 2730,4190 2750,4190 2750,4180 2760,4170 2760,4150 2750,4150 2740,4140 2740,4130 2730,4130 2720,4120 2730,4110 2750,4110 2770,4130 2790,4130 2800,4140 2790,4150 2790,4170 2800,4170 2810,4180 2800,4190 2800,4220 2810,4230 2810,4250 2860,4250 2860,4210 2880,4190 2890,4200 2890,4220 2930,4220 2930,4190 2920,4190 2910,4180 2910,4170 2920,4160 2930,4160 2940,4170 2950,4170 2960,4180 2960,4190 2970,4200 3000,4200 3010,4210 3010,4220 3040,4220 3040,4190 3030,4180 3030,4170 3020,4160 3030,4150 3040,4150 3050,4140 3060,4150 3060,4170 3070,4180 3070,4190 3090,4190 3090,4170 3100,4160 3110,4160 3110,4020 3090,4020 3080,4010 3090,4000 3110,4000 3110,3980 3100,3970 3100,3860 3090,3850 3080,3850 3070,3840 3070,3830 3060,3820 3040,3820 3030,3810 2990,3810 2980,3800 2980,3760 2990,3750 3070,3750 3080,3740 3100,3740 3100,3730 3110,3720 3120,3730 3120,3750 3140,3750 </obstacle>
42
      <obstacle>930,3270 940,3260 960,3260 970,3270 970,3280 960,3290 940,3290 930,3280 </obstacle>
43
      <obstacle>1230,3230 1240,3240 1250,3240 1260,3250 1260,3280 1250,3290 1240,3280 1240,3260 1220,3260 1210,3250 </obstacle>
44
      <obstacle>990,3100 1000,3110 1000,3130 1020,3150 1020,3190 1010,3200 1000,3190 1000,3170 960,3170 950,3160 950,3140 960,3130 980,3130 980,3110 </obstacle>
45
      <obstacle>1370,2960 1370,2940 1380,2930 1400,2930 1410,2940 1410,2950 1390,2970 1380,2970 </obstacle>
46
      <obstacle>1310,2930 1320,2940 1320,2950 1330,2960 1310,2980 1290,2960 1290,2950 </obstacle>
47
      <obstacle>4540,2800 4550,2790 4570,2790 4570,2780 4580,2770 4590,2770 4610,2790 4610,2800 4600,2810 4550,2810 </obstacle>
48
      <obstacle>4630,2780 4640,2770 4670,2770 4680,2760 4690,2770 4690,2790 4700,2790 4710,2800 4710,2810 4700,2820 4690,2820 4680,2810 4650,2810 4640,2800 4640,2790 </obstacle>
49
      <obstacle>1380,2740 1390,2740 1400,2750 1400,2770 1390,2780 1370,2780 1360,2770 1360,2760 </obstacle>
50
      <obstacle>1310,2730 1320,2740 1320,2770 1310,2780 1300,2780 1280,2760 1280,2750 1290,2740 1300,2740 </obstacle>
51
      <obstacle>1560,2720 1610,2720 1640,2750 1660,2750 1680,2730 1710,2730 1720,2740 1740,2740 1750,2750 1750,2800 1740,2810 1720,2810 1720,2830 1730,2840 1730,2880 1720,2890 1720,2910 1740,2910 1750,2920 1770,2920 1780,2930 1770,2940 1770,2990 1750,3010 1690,3010 1680,3000 1640,3000 1630,3010 1580,3010 1560,2990 1560,2980 1550,2970 1560,2960 1560,2920 1570,2910 1570,2890 1560,2880 1560,2850 1570,2840 1580,2840 1590,2830 1590,2810 1550,2810 1540,2800 1540,2760 1530,2750 </obstacle>
52
      <obstacle>4600,2660 4620,2680 4600,2700 4590,2700 4590,2710 4570,2730 4560,2720 4560,2710 4570,2700 4570,2680 4580,2670 4590,2670 </obstacle>
53
      <obstacle>4680,2640 4700,2640 4720,2660 4720,2670 4710,2680 4710,2690 4700,2700 4700,2720 4710,2730 4690,2750 4680,2740 4680,2710 4670,2700 4650,2700 4640,2690 4640,2680 4630,2670 4640,2660 4670,2660 4670,2650 </obstacle>
54
      <obstacle>4720,2600 4710,2610 4690,2610 4680,2600 4680,2590 4630,2590 4630,2600 4620,2610 4610,2600 4610,2590 4590,2590 4580,2600 4570,2590 4570,2570 4540,2570 4530,2560 4530,2550 4540,2540 4550,2540 4560,2550 4640,2550 4650,2540 4660,2540 4680,2520 4690,2520 4700,2530 4700,2590 4710,2590 </obstacle>
55
      <obstacle>4580,2390 4590,2380 4620,2380 4650,2410 4640,2420 4640,2440 4670,2440 4680,2450 4690,2450 4700,2460 4690,2470 4660,2470 4650,2480 4640,2480 4630,2470 4630,2460 4610,2460 4600,2470 4580,2470 4570,2460 4570,2440 4580,2430 4590,2430 4600,2440 4620,2440 4620,2420 4610,2410 4610,2400 4590,2400 </obstacle>
56
      <obstacle>4410,2360 4430,2360 4440,2370 4440,2450 4460,2450 4470,2460 4460,2470 4440,2470 4440,2640 4450,2650 4450,2710 4440,2720 4440,2740 4430,2750 4430,2780 4440,2790 4430,2800 4430,2870 4440,2870 4450,2880 4450,2890 4430,2910 4430,2930 4420,2940 4410,2930 4410,2900 4400,2890 4400,2870 4410,2860 4410,2800 4400,2790 4410,2780 4410,2740 4400,2730 4400,2370 </obstacle>
57
      <obstacle>2920,1950 2920,2000 2910,2010 2900,2010 2890,2020 2870,2000 2870,1980 2850,1980 2840,1990 2820,1990 2820,2000 2810,2010 2800,2000 2800,1960 2810,1950 2820,1950 2830,1940 2890,1940 2900,1930 </obstacle>
58
      <obstacle>2300,1910 2310,1920 2290,1940 2270,1940 2270,1970 2260,1980 2250,1970 2250,1940 2240,1940 2230,1930 2240,1920 2270,1920 2280,1910 </obstacle>
59
      <obstacle>1830,1850 1840,1860 1840,1880 1820,1900 1810,1900 1800,1910 1790,1900 1790,1880 1780,1880 1770,1870 1780,1860 1820,1860 </obstacle>
60
      <obstacle>1880,1870 1880,1840 1890,1830 1920,1830 1930,1840 1920,1850 1900,1850 1900,1870 1890,1880 </obstacle>
61
      <obstacle>1950,1800 1960,1810 1960,1820 1970,1830 1960,1840 1940,1840 1930,1830 1930,1820 </obstacle>
62
      <obstacle>2130,1800 2130,1840 2120,1850 2060,1850 2050,1840 2060,1830 2090,1830 2090,1820 2100,1810 2100,1800 2110,1790 2120,1790 </obstacle>
63
      <obstacle>3420,1770 3440,1770 3450,1780 3450,1790 3440,1800 3440,1830 3430,1840 3420,1830 3420,1820 3410,1820 3400,1810 3410,1800 3410,1780 </obstacle>
64
      <obstacle>3330,1760 3340,1770 3340,1780 3350,1780 3370,1800 3370,1840 3380,1850 3380,1890 3390,1900 3390,1940 3400,1940 3410,1950 3400,1960 3340,1960 3330,1970 3320,1970 3310,1980 3300,1980 3290,1970 3300,1960 3300,1950 3310,1940 3310,1920 3320,1910 3320,1880 3310,1880 3300,1870 3310,1860 3320,1860 3320,1840 3310,1840 3300,1830 3300,1810 3290,1810 3280,1800 3290,1790 3290,1780 3310,1760 </obstacle>
65
      <obstacle>1850,1790 1860,1780 1870,1780 1870,1770 1880,1760 1900,1760 1900,1740 1910,1730 1920,1740 1940,1740 1950,1750 1950,1760 1960,1760 1970,1770 1970,1790 1960,1800 1950,1790 1950,1780 1910,1780 1910,1800 1900,1810 1890,1800 1860,1800 </obstacle>
66
      <obstacle>3400,1730 3410,1720 3450,1720 3460,1730 3450,1740 3410,1740 </obstacle>
67
      <obstacle>1810,1720 1820,1710 1830,1720 1830,1740 1840,1740 1850,1750 1840,1760 1820,1760 1810,1750 </obstacle>
68
      <obstacle>1950,1660 1970,1660 1980,1670 2020,1670 2030,1680 2030,1700 2050,1700 2050,1680 2060,1670 2070,1670 2080,1680 2080,1800 2070,1810 2050,1810 2050,1820 2040,1830 2030,1830 2020,1840 2020,1860 2030,1860 2040,1870 2020,1890 2020,1910 2030,1920 2010,1940 2000,1930 1990,1930 1980,1920 1980,1890 1960,1890 1960,1920 1950,1930 1940,1930 1930,1920 1930,1890 1940,1880 1940,1870 1950,1860 1960,1870 1990,1870 1990,1850 1980,1840 2000,1820 2000,1800 1990,1790 1990,1770 2000,1760 2010,1770 2010,1780 2060,1780 2060,1740 2040,1740 2020,1760 2010,1750 2010,1730 2000,1720 2000,1690 1960,1690 1960,1710 1950,1720 1940,1720 1930,1710 1940,1700 1940,1670 </obstacle>
69
      <obstacle>3230,1510 3240,1520 3230,1530 3230,1550 3220,1560 3200,1560 3190,1550 3190,1530 3200,1520 3210,1520 3220,1510 </obstacle>
70
      <obstacle>1860,1490 1910,1490 1930,1510 1940,1510 1950,1520 1950,1550 1970,1570 1970,1580 1950,1600 1950,1610 1940,1620 1940,1630 1930,1640 1930,1650 1920,1660 1920,1670 1910,1680 1900,1680 1900,1700 1890,1710 1880,1700 1880,1680 1870,1670 1870,1660 1850,1660 1840,1650 1840,1610 1820,1590 1820,1580 1810,1570 1790,1570 1790,1600 1780,1610 1770,1600 1770,1560 1780,1550 1810,1550 1820,1540 1820,1530 </obstacle>
71
      <obstacle>3750,1440 3760,1450 3760,1480 3750,1490 3740,1490 3730,1480 3730,1470 3740,1460 3740,1450 </obstacle>
72
      <obstacle>3390,1430 3400,1440 3400,1470 3410,1470 3420,1480 3420,1500 3430,1500 3440,1510 3430,1520 3410,1520 3410,1550 3420,1560 3420,1620 3430,1630 3410,1650 3390,1650 3380,1660 3360,1660 3350,1650 3350,1630 3360,1620 3360,1500 3350,1490 3340,1490 3330,1480 3330,1450 3340,1440 3380,1440 </obstacle>
73
      <obstacle>3680,1420 3700,1440 3680,1460 3680,1470 3670,1480 3650,1460 3650,1450 3660,1440 3660,1430 3670,1420 </obstacle>
74
      <obstacle>2630,1380 2640,1370 2640,1360 2650,1350 2660,1350 2670,1360 2670,1370 2650,1390 2640,1390 </obstacle>
75
      <obstacle>1430,1300 1440,1310 1440,1460 1450,1470 1440,1480 1440,1550 1460,1550 1470,1540 1480,1540 1500,1560 1500,1570 1490,1580 1460,1580 1440,1600 1440,1660 1460,1680 1460,1720 1470,1720 1480,1730 1470,1740 1450,1740 1450,1780 1470,1780 1480,1770 1500,1770 1510,1780 1510,1800 1500,1810 1500,1820 1490,1830 1460,1830 1460,1900 1470,1900 1480,1910 1470,1920 1470,2000 1480,2010 1480,2130 1490,2140 1480,2150 1480,2200 1490,2210 1480,2220 1480,2290 1530,2290 1540,2300 1540,2320 1530,2330 1480,2330 1470,2340 1450,2320 1420,2320 1400,2300 1400,2280 1390,2270 1370,2270 1360,2260 1360,2210 1350,2200 1360,2190 1360,2170 1350,2160 1350,2120 1290,2120 1280,2110 1280,2080 1260,2080 1250,2070 1200,2070 1200,2120 1210,2130 1210,2160 1190,2180 1180,2180 1180,2210 1210,2210 1220,2220 1220,2250 1210,2260 1200,2260 1190,2270 1160,2270 1150,2280 1140,2280 1130,2290 1130,2310 1150,2310 1160,2320 1160,2340 1170,2350 1170,2410 1270,2410 1280,2400 1360,2400 1370,2390 1460,2390 1470,2400 1540,2400 1550,2410 1550,2430 1540,2440 1130,2440 1130,2510 1140,2520 1130,2530 1130,2580 1140,2590 1140,2650 1130,2660 1130,2690 1140,2700 1140,2800 1150,2810 1150,3110 1180,3110 1200,3130 1220,3130 1230,3140 1200,3170 1200,3220 1190,3230 1190,3250 1210,3250 1220,3260 1220,3280 1240,3280 1250,3290 1250,3310 1210,3350 1210,3360 1190,3380 1160,3380 1130,3350 1120,3350 1080,3310 1090,3300 1100,3300 1100,3280 1110,3270 1110,3260 1120,3250 1120,3000 1110,3000 1100,2990 1110,2980 1110,2960 1120,2950 1120,2890 1110,2880 1110,2820 1050,2820 1050,2840 1040,2850 1030,2840 1030,2820 980,2820 980,2840 970,2850 970,2870 1010,2870 1020,2880 1010,2890 980,2890 980,2900 970,2910 960,2900 960,2890 940,2890 940,2910 950,2920 950,2940 960,2950 960,2970 970,2980 970,3000 1010,3000 1020,3010 1020,3020 1000,3040 990,3030 970,3030 970,3050 980,3060 980,3080 990,3090 990,3100 980,3110 970,3100 950,3100 950,3120 940,3130 930,3120 930,3110 910,3090 910,3080 890,3060 890,3050 880,3040 880,3020 860,3020 860,3190 870,3200 870,3220 860,3230 860,3310 880,3310 880,3300 890,3290 900,3300 900,3310 920,3310 930,3320 950,3320 960,3310 970,3320 990,3320 1000,3330 1000,3340 990,3350 990,3390 980,3400 980,3440 990,3450 1010,3450 1030,3430 1090,3430 1100,3420 1120,3420 1130,3430 1130,3440 1120,3450 1120,3460 1080,3500 1080,3510 1030,3560 1020,3560 1010,3570 850,3570 840,3560 840,3380 830,3370 830,3200 820,3190 830,3180 830,3150 820,3140 820,2960 810,2950 810,2800 800,2790 800,2620 790,2610 790,2580 800,2570 800,2520 790,2510 790,2490 780,2480 780,2470 790,2460 800,2460 810,2450 900,2450 910,2460 1070,2460 1070,2080 1030,2080 1030,2110 1020,2120 1010,2120 1000,2110 1000,2080 910,2080 910,2110 900,2120 890,2110 890,2090 870,2090 870,2130 860,2140 810,2140 810,2280 820,2290 820,2300 830,2310 830,2330 820,2340 820,2380 810,2390 790,2390 770,2370 770,2360 780,2350 780,2200 770,2190 770,2080 760,2070 760,2050 770,2040 770,1980 760,1970 770,1960 770,1900 760,1890 760,1850 750,1840 760,1830 760,1820 770,1810 790,1810 800,1820 800,1850 810,1860 810,1870 800,1880 800,1940 810,1940 820,1950 820,1960 810,1970 810,2030 830,2050 1050,2050 1050,2040 1060,2030 1060,1780 1030,1780 1030,1800 1020,1810 1000,1790 1000,1750 900,1750 890,1760 790,1760 780,1750 770,1750 760,1740 760,1700 770,1690 870,1690 880,1700 880,1710 1010,1710 1020,1720 1040,1720 1050,1710 1050,1530 1060,1520 1060,1470 1040,1470 1030,1460 1000,1460 1000,1470 990,1480 980,1480 970,1490 950,1490 940,1480 940,1470 930,1460 930,1450 940,1440 960,1440 960,1420 950,1410 960,1400 960,1380 900,1380 900,1400 890,1410 880,1400 880,1380 820,1380 820,1460 830,1470 830,1580 810,1600 800,1600 800,1620 790,1630 760,1630 740,1610 760,1590 760,1570 750,1560 750,1330 760,1320 770,1320 780,1310 790,1310 800,1320 800,1330 820,1330 820,1320 830,1310 840,1320 840,1330 870,1330 890,1310 1010,1310 1020,1300 1060,1300 1070,1290 1080,1300 1130,1300 1140,1290 1150,1300 1170,1300 1180,1290 1190,1300 1240,1300 1250,1290 1260,1300 </obstacle>
76
      <obstacle>1640,1280 1650,1290 1660,1290 1670,1300 1670,1320 1710,1360 1710,1440 1700,1450 1700,1510 1710,1520 1710,1620 1720,1630 1720,1890 1730,1900 1730,1980 1750,1980 1760,1990 1750,2000 1730,2000 1730,2110 1740,2120 1730,2130 1730,2150 1740,2160 1740,2250 1750,2260 1750,2290 1770,2310 1770,2320 1760,2330 1750,2330 1730,2310 1730,2300 1710,2300 1700,2290 1670,2290 1660,2300 1640,2280 1640,2140 1630,2130 1640,2120 1640,2090 1630,2080 1630,2030 1620,2020 1630,2010 1630,1910 1620,1900 1630,1890 1630,1870 1620,1860 1620,1770 1610,1760 1620,1750 1620,1680 1610,1670 1610,1460 1600,1450 1600,1320 </obstacle>
77
      <obstacle>2670,1270 2670,1260 2690,1240 2730,1240 2740,1250 2730,1260 2720,1260 2720,1270 2710,1280 2680,1280 </obstacle>
78
      <obstacle>2960,1190 2970,1200 2970,1240 2980,1250 2980,1280 2970,1290 2970,1320 2980,1330 2980,1340 2990,1350 2990,1370 2980,1380 2970,1380 2960,1390 2930,1390 2930,1400 2910,1420 2900,1420 2890,1410 2890,1400 2900,1390 2900,1360 2890,1350 2890,1340 2860,1340 2860,1350 2850,1360 2840,1350 2720,1350 2720,1410 2730,1420 2730,1490 2750,1490 2760,1500 2780,1500 2790,1490 2800,1500 2830,1500 2840,1510 2830,1520 2830,1550 2840,1560 2840,1590 2850,1590 2860,1600 2860,1620 2840,1640 2840,1660 2830,1670 2820,1670 2820,1680 2810,1690 2800,1680 2800,1650 2790,1640 2780,1640 2770,1630 2760,1630 2750,1620 2750,1610 2730,1610 2720,1620 2700,1620 2690,1610 2690,1590 2670,1570 2680,1560 2710,1560 2710,1530 2690,1530 2670,1550 2660,1540 2660,1510 2670,1500 2670,1470 2680,1460 2710,1460 2710,1430 2690,1430 2670,1410 2680,1400 2700,1400 2700,1360 2670,1360 2660,1350 2670,1340 2670,1320 2680,1310 2700,1310 2710,1300 2720,1310 2720,1320 2890,1320 2890,1270 2870,1270 2860,1260 2870,1250 2890,1250 2910,1230 2950,1230 2950,1210 2940,1200 2950,1190 </obstacle>
79
      <obstacle>400,1180 410,1170 450,1170 460,1180 460,1190 470,1200 460,1210 450,1210 440,1200 440,1190 410,1190 </obstacle>
80
      <obstacle>3190,1010 3210,1010 3220,1020 3210,1030 3210,1060 3200,1070 3180,1070 3170,1060 3170,1050 3180,1040 3180,1020 </obstacle>
81
      <obstacle>2770,1010 2780,1000 2790,1000 2790,980 2800,970 2810,980 2820,980 2830,990 2820,1000 2810,1000 2810,1010 2800,1020 2780,1020 </obstacle>
82
      <obstacle>2840,940 2850,950 2850,960 2860,970 2860,980 2850,990 2840,990 2830,980 2830,950 </obstacle>
83
      <obstacle>690,870 700,880 700,900 690,910 690,930 680,940 680,950 670,960 660,950 660,940 650,940 640,930 650,920 650,900 660,890 680,890 680,880 </obstacle>
84
      <obstacle>500,860 510,870 510,890 520,890 530,900 530,930 510,950 490,930 490,890 480,880 </obstacle>
85
      <obstacle>2970,830 2990,850 2990,920 2980,930 2980,960 2970,970 2950,970 2940,960 2940,880 2920,880 2910,890 2900,890 2890,900 2890,910 2880,920 2870,910 2870,900 2860,890 2860,880 2850,870 2790,870 2790,880 2780,890 2780,910 2770,920 2760,910 2760,900 2750,890 2750,880 2720,880 2720,890 2710,900 2700,900 2690,890 2690,880 2650,880 2650,890 2640,900 2600,900 2600,920 2610,920 2630,940 2630,950 2640,960 2640,970 2650,980 2650,990 2660,1000 2650,1010 2640,1010 2640,1040 2650,1050 2640,1060 2610,1060 2600,1070 2530,1070 2530,1100 2520,1110 2520,1120 2510,1130 2510,1160 2500,1170 2500,1190 2510,1200 2510,1210 2530,1210 2540,1220 2530,1230 2520,1230 2510,1240 2490,1240 2490,1280 2510,1300 2510,1320 2540,1320 2540,1300 2550,1290 2560,1300 2560,1310 2590,1310 2610,1290 2640,1290 2660,1270 2670,1270 2680,1280 2680,1300 2670,1310 2640,1310 2620,1330 2620,1350 2600,1370 2590,1370 2580,1360 2580,1340 2550,1340 2540,1350 2520,1350 2520,1400 2530,1410 2520,1420 2500,1420 2500,1460 2520,1460 2530,1470 2520,1480 2500,1480 2500,1540 2510,1550 2530,1550 2540,1560 2540,1570 2550,1570 2560,1580 2560,1610 2550,1620 2540,1610 2500,1610 2500,1640 2520,1640 2530,1650 2530,1660 2560,1660 2570,1670 2570,1680 2580,1690 2570,1700 2560,1700 2560,1720 2570,1730 2610,1730 2620,1740 2650,1740 2660,1750 2680,1750 2690,1760 2700,1760 2710,1770 2720,1770 2740,1790 2740,1800 2750,1810 2740,1820 2730,1820 2720,1830 2700,1830 2690,1820 2670,1820 2660,1810 2650,1810 2640,1800 2630,1800 2620,1790 2600,1790 2600,1810 2610,1810 2620,1820 2610,1830 2600,1830 2600,1850 2620,1850 2620,1840 2630,1830 2640,1840 2640,1860 2650,1860 2660,1870 2700,1870 2710,1880 2720,1880 2730,1890 2730,1920 2720,1930 2720,1960 2710,1970 2700,1960 2690,1960 2680,1950 2660,1950 2650,1940 2640,1940 2630,1930 2620,1930 2610,1920 2590,1920 2590,1950 2620,1980 2650,1980 2660,1990 2680,1990 2690,2000 2690,2010 2710,2010 2720,2020 2740,2020 2750,2010 2780,2010 2790,2020 2780,2030 2780,2080 2800,2080 2810,2070 2820,2070 2830,2080 2830,2100 2840,2110 2840,2120 2830,2130 2800,2130 2800,2150 2810,2160 2810,2170 2800,2180 2800,2240 2810,2240 2820,2250 2840,2250 2850,2260 2840,2270 2840,2290 2850,2300 2840,2310 2840,2330 2860,2330 2860,2310 2870,2300 2880,2310 2900,2310 2910,2300 2910,2270 2920,2260 2920,2240 2910,2240 2900,2230 2910,2220 2950,2220 2960,2210 3000,2210 3010,2200 3010,2170 3020,2160 3030,2170 3030,2190 3040,2200 3040,2260 3030,2270 3030,2290 3040,2300 3040,2310 3050,2320 3050,2340 3060,2350 3050,2360 3050,2420 3030,2440 2950,2440 2940,2450 2930,2440 2910,2440 2900,2430 2870,2430 2870,2500 2900,2500 2910,2490 2980,2490 2990,2500 3030,2500 3040,2490 3050,2500 3050,2600 3060,2610 3060,2750 3070,2760 3070,2770 3080,2780 3070,2790 3070,2870 3080,2880 3070,2890 3070,2940 3080,2950 3080,3010 3090,3010 3100,3020 3090,3030 3080,3030 3080,3050 3090,3060 3080,3070 3080,3120 3090,3130 3090,3160 3100,3170 3100,3180 3090,3190 3090,3220 3100,3230 3100,3340 3110,3350 3100,3360 3100,3380 3110,3390 3110,3510 3120,3520 3120,3530 3130,3530 3140,3540 3140,3560 3120,3580 3110,3580 3110,3610 3130,3610 3140,3620 3130,3630 3060,3630 3050,3640 3010,3640 3000,3650 2970,3650 2960,3660 2950,3650 2950,3640 2900,3640 2890,3650 2820,3650 2810,3660 2810,3680 2790,3700 2750,3700 2740,3690 2740,3670 2660,3670 2650,3680 2630,3680 2620,3670 2610,3670 2590,3650 2590,3590 2610,3570 2610,3560 2620,3550 2620,3540 2630,3530 2660,3530 2660,3500 2670,3490 2700,3490 2700,3470 2690,3460 2680,3460 2670,3450 2690,3430 2700,3430 2710,3420 2710,3400 2690,3400 2680,3410 2670,3400 2610,3400 2600,3390 2610,3380 2650,3380 2650,3320 2640,3320 2630,3310 2630,3300 2640,3290 2650,3290 2650,3260 2640,3260 2630,3250 2600,3250 2600,3270 2590,3280 2590,3300 2580,3310 2560,3310 2550,3300 2550,3280 2540,3270 2540,3260 2520,3260 2510,3270 2470,3270 2460,3280 2450,3270 2430,3270 2430,3330 2440,3330 2450,3340 2440,3350 2420,3350 2410,3360 2380,3360 2380,3380 2420,3420 2420,3430 2430,3430 2450,3450 2450,3470 2460,3470 2470,3480 2470,3490 2480,3490 2490,3500 2490,3510 2510,3510 2520,3520 2520,3550 2530,3560 2530,3650 2510,3670 2490,3670 2480,3660 2460,3660 2450,3670 2430,3650 2430,3620 2410,3620 2400,3630 2210,3630 2200,3640 2180,3640 2160,3660 2160,3670 2140,3690 2130,3690 2110,3670 2110,3660 2120,3650 2120,3610 2130,3600 2150,3600 2160,3590 2290,3590 2290,3570 2250,3570 2240,3560 2230,3560 2200,3530 2190,3530 2180,3520 2180,3510 2200,3490 2220,3490 2230,3500 2250,3500 2250,3480 2260,3470 2290,3470 2290,3460 2300,3450 2340,3450 2340,3360 2320,3360 2310,3370 2300,3370 2290,3360 2280,3360 2270,3350 2270,3330 2250,3330 2240,3320 2250,3310 2270,3310 2270,3260 2230,3260 2220,3270 2220,3280 2210,3290 2170,3290 2160,3280 2160,3260 2130,3260 2130,3290 2140,3300 2130,3310 2130,3340 2110,3360 2100,3350 2100,3310 2090,3300 2090,3290 2080,3280 2080,3260 2050,3260 2040,3270 2010,3270 2010,3310 2020,3310 2040,3330 2030,3340 2010,3340 2010,3360 2030,3360 2040,3370 2040,3410 2050,3410 2060,3420 2060,3450 2070,3460 2070,3470 2080,3470 2090,3480 2090,3510 2070,3530 2020,3530 2020,3550 2030,3550 2040,3560 2040,3580 2050,3590 2050,3640 2060,3650 2050,3660 2050,3670 2040,3680 2010,3680 2000,3690 1980,3690 1970,3680 1970,3660 1980,3650 1990,3650 1990,3520 1980,3510 1980,3380 1970,3370 1970,3350 1960,3340 1960,3250 1970,3240 1970,3230 1980,3220 1980,3200 1990,3190 1990,3130 1980,3120 1980,3110 1970,3100 1970,3080 1940,3080 1930,3090 1910,3090 1900,3080 1900,3040 1910,3030 1910,3010 1900,3000 1900,2840 1890,2830 1890,2780 1870,2780 1860,2770 1870,2760 1890,2760 1890,2690 1880,2680 1880,2670 1870,2670 1860,2660 1870,2650 1870,2590 1880,2580 1880,2570 1890,2560 1950,2560 1950,2520 1960,2510 1960,2440 1950,2440 1940,2430 1940,2420 1920,2420 1910,2410 1890,2410 1870,2430 1810,2430 1800,2420 1770,2420 1750,2440 1740,2440 1730,2430 1730,2420 1740,2410 1740,2370 1750,2360 1760,2370 1810,2370 1820,2360 1840,2360 1870,2330 1870,2310 1880,2300 1890,2300 1900,2290 1900,2280 1910,2270 1920,2270 1930,2260 1930,2250 1950,2230 2010,2230 2030,2210 2040,2220 2080,2220 2080,2170 2090,2160 2100,2170 2100,2190 2110,2190 2120,2200 2140,2200 2150,2210 2150,2220 2160,2220 2180,2240 2170,2250 2170,2320 2180,2330 2180,2380 2220,2380 2220,2360 2230,2350 2240,2360 2240,2370 2340,2370 2350,2360 2370,2360 2370,2340 2340,2340 2310,2310 2310,2290 2280,2260 2280,2250 2270,2240 2260,2240 2250,2230 2260,2220 2270,2220 2280,2210 2370,2210 2380,2220 2410,2220 2410,2200 2420,2190 2440,2210 2520,2210 2520,2190 2510,2180 2510,2170 2490,2170 2470,2150 2490,2130 2510,2150 2530,2150 2530,2070 2520,2060 2520,2040 2510,2030 2510,2020 2500,2020 2480,2000 2490,1990 2500,1990 2500,1980 2520,1960 2520,1930 2510,1930 2500,1920 2480,1920 2480,1960 2470,1970 2470,1980 2460,1990 2450,1980 2450,1970 2440,1960 2450,1950 2460,1950 2460,1930 2450,1920 2450,1900 2440,1890 2430,1890 2400,1860 2410,1850 2410,1830 2350,1830 2350,1840 2340,1850 2330,1840 2260,1840 2260,1870 2270,1880 2260,1890 2250,1890 2240,1880 2240,1840 2230,1830 2230,1780 2220,1770 2220,1730 2210,1720 2210,1710 2220,1700 2240,1720 2250,1720 2260,1730 2260,1750 2280,1750 2280,1720 2290,1710 2300,1720 2300,1740 2310,1740 2320,1750 2320,1770 2350,1770 2360,1760 2390,1760 2400,1750 2420,1750 2430,1760 2420,1770 2410,1770 2410,1800 2430,1800 2440,1810 2440,1860 2450,1870 2470,1870 2480,1860 2480,1850 2490,1840 2520,1840 2520,1820 2480,1820 2470,1810 2480,1800 2490,1800 2490,1780 2480,1780 2470,1770 2480,1760 2490,1760 2490,1710 2480,1700 2420,1700 2400,1680 2390,1680 2380,1670 2340,1670 2330,1660 2270,1660 2260,1670 2250,1660 2220,1660 2210,1650 2200,1650 2190,1640 2190,1560 2230,1520 2250,1520 2260,1530 2330,1530 2340,1520 2350,1520 2350,1490 2360,1480 2360,1460 2390,1430 2430,1430 2440,1420 2460,1420 2470,1410 2470,1320 2460,1310 2470,1300 2470,1270 2460,1260 2460,1250 2450,1250 2430,1230 2440,1220 2460,1220 2460,1140 2430,1140 2420,1150 2410,1140 2400,1140 2390,1130 2340,1130 2340,1150 2310,1180 2300,1180 2290,1190 2280,1190 2280,1210 2290,1210 2300,1220 2310,1220 2320,1230 2310,1240 2300,1240 2290,1250 2280,1250 2250,1280 2250,1300 2230,1320 2200,1320 2080,1440 2070,1440 2070,1450 2060,1460 2050,1460 2040,1470 2000,1470 1990,1460 1970,1460 1950,1440 1950,1430 1930,1410 1940,1400 1940,1370 1950,1360 1950,1350 1970,1330 1990,1330 2000,1320 2020,1320 2030,1310 2050,1310 2060,1300 2080,1300 2090,1290 2110,1290 2120,1280 2140,1280 2150,1270 2170,1270 2170,1260 2180,1250 2190,1260 2220,1260 2230,1250 2230,1240 2240,1230 2260,1230 2260,1210 2230,1210 2220,1220 2210,1220 2200,1210 2200,1200 2180,1200 2170,1210 2160,1210 2150,1220 2140,1220 2130,1230 2120,1230 2110,1240 2100,1240 2090,1250 2080,1250 2070,1260 2060,1260 2050,1270 2040,1270 2030,1280 2020,1280 2010,1290 2000,1290 1990,1300 1980,1300 1970,1310 1960,1310 1950,1320 1940,1320 1920,1340 1890,1340 1880,1330 1850,1330 1840,1340 1770,1340 1760,1330 1760,1320 1750,1320 1740,1310 1740,1300 1810,1230 1810,1210 1790,1190 1790,1180 1770,1160 1760,1160 1750,1150 1840,1060 1840,1050 1890,1000 1900,1000 1930,970 1930,950 2040,840 2050,850 2090,850 2100,840 2140,840 2150,850 2170,850 2180,840 2210,840 2220,830 2230,840 2240,840 2250,850 2280,850 2290,840 2310,840 2320,830 2380,830 2390,820 2400,830 2430,830 2430,820 2440,810 2450,820 2450,830 2490,830 2500,840 2960,840 </obstacle>
86
      <obstacle>3960,1210 3930,1240 3830,1240 3800,1210 3810,1200 3860,1200 3870,1190 3880,1190 3880,1160 3870,1150 3870,1140 3850,1140 3840,1150 3830,1140 3810,1140 3770,1100 3770,1060 3780,1050 3790,1050 3790,1030 3800,1020 3810,1030 3810,1050 3850,1050 3860,1040 3860,1010 3850,1010 3810,970 3810,950 3820,940 3820,920 3830,910 3830,870 3820,870 3810,860 3790,860 3790,880 3800,890 3800,920 3790,930 3780,930 3780,970 3790,980 3790,990 3780,1000 3770,990 3750,990 3740,980 3750,970 3750,950 3730,950 3710,930 3710,890 3690,890 3680,900 3680,940 3690,950 3690,980 3700,990 3690,1000 3670,1000 3660,990 3620,990 3620,1010 3650,1010 3660,1020 3700,1020 3710,1030 3700,1040 3700,1080 3720,1080 3730,1090 3720,1100 3710,1100 3700,1110 3700,1130 3690,1140 3690,1150 3680,1160 3620,1160 3610,1150 3610,1140 3500,1140 3490,1150 3480,1150 3460,1170 3450,1160 3450,1140 3440,1130 3440,1110 3430,1100 3440,1090 3440,1030 3450,1020 3480,1020 3490,1010 3490,990 3500,980 3510,990 3510,1000 3560,1000 3560,950 3550,940 3570,920 3570,910 3580,900 3590,900 3590,870 3580,870 3570,860 3550,860 3540,870 3530,860 3510,860 3510,870 3500,880 3490,880 3480,890 3480,910 3470,920 3280,920 3270,930 3260,930 3250,920 3250,870 3220,870 3200,890 3190,880 3160,880 3150,870 3150,860 3140,850 3160,830 3320,830 3330,820 3480,820 3490,810 3500,820 3590,820 3600,810 3820,810 3830,800 3920,800 3940,820 3940,930 3950,930 3960,940 3960,980 3970,990 3970,1010 3950,1030 3950,1110 3960,1120 </obstacle>
87
      <obstacle>3960,420 3970,410 3990,410 4000,420 4000,440 3990,450 3970,450 3960,440 </obstacle>
88
      <obstacle>3840,340 3860,340 3870,350 3870,370 3860,380 3860,420 3870,430 3860,440 3840,440 3830,430 3830,410 3840,400 3840,380 3830,370 3830,350 </obstacle>
89
      <obstacle>3990,320 4000,330 4000,380 3990,390 3980,390 3970,380 3970,340 </obstacle>
90
    </obstacles>
91
  </environment>
92
</multiagentproblem>