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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>3575,1533 3569,1216 3165,1220 3096,1242 3080,1224 2944,1221 2944,1272 2994,1293 2929,1290 2906,1269 2896,1220 2919,1122 2914,1010 3566,1032 3564,959 3410,954 3399,942 3411,918 3368,911 3330,712 3320,720 3339,851 3322,837 3311,858 3277,854 3310,884 3277,949 3214,942 3198,842 3121,834 3133,895 3093,901 3091,941 2689,933 2684,921 2729,905 2719,886 2695,889 2693,856 2703,877 2709,864 2694,824 2666,806 2673,825 2662,828 2648,781 2616,821 2642,872 2636,933 2391,937 2390,919 2436,922 2436,734 2398,732 2394,702 2309,701 2304,728 2320,752 2299,761 2295,825 2326,866 2325,920 2288,945 2071,934 2095,908 2122,907 2124,883 2169,882 2195,919 2275,918 2251,903 2247,837 2229,835 2256,822 2253,790 2224,780 2250,758 2248,734 2219,721 2222,737 2204,742 2200,703 2164,703 2174,734 2134,768 2113,728 2097,736 2094,703 1987,705 2017,755 2001,767 1995,811 1969,825 2013,850 2021,879 2002,928 1981,942 1736,940 1742,925 1898,925 1904,893 1947,886 1946,839 1927,814 1947,800 1946,775 1931,773 1918,813 1897,801 1925,755 1947,750 1948,723 1925,705 1756,707 1768,731 1750,741 1741,706 1664,712 1689,733 1723,725 1733,764 1713,776 1693,745 1668,755 1642,709 1640,868 1677,871 1668,937 1577,944 1570,928 1623,920 1625,743 1595,741 1573,726 1575,704 1503,703 1486,725 1502,773 1484,783 1483,805 1514,811 1517,841 1483,846 1481,871 1500,888 1480,920 1497,915 1514,874 1529,877 1497,944 947,947 938,880 966,871 966,739 924,736 919,711 902,710 866,794 789,797 777,770 676,773 679,879 662,900 664,930 773,930 776,910 793,908 803,931 828,935 823,948 341,952 343,994 409,995 416,1028 646,1018 694,1031 663,1054 527,1051 527,1114 559,1126 531,1149 540,1203 784,1204 787,1054 754,1048 756,1028 995,1024 996,1309 1031,1334 1299,1328 1395,1345 1463,1328 1593,1333 1647,1320 1670,1378 1663,1394 1689,1393 1684,1455 1665,1433 1649,1461 1653,1514 1680,1473 1705,1491 1652,1549 1655,1564 1798,1562 1800,1499 1864,1517 1888,1561 1953,1560 1977,1543 1992,1562 2184,1560 2195,1541 2271,1559 2275,1475 2254,1453 2248,1399 2258,1372 2307,1369 2318,1423 2294,1463 2312,1497 2294,1564 2362,1561 2373,1541 2404,1559 2422,1548 2468,1563 2638,1561 2616,1538 2623,1508 2654,1512 2656,1562 2924,1560 2922,1368 3046,1356 3287,1355 3289,1437 3275,1476 3287,1507 3265,1539 3289,1558 3331,1558 3331,1538 3356,1525 3382,1558 3459,1557 3470,1535 3540,1557 3517,1531 3531,1510 </boundary>
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    <obstacles>
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      <obstacle>3012,1474 3026,1497 3036,1479 3036,1501 3056,1504 3046,1534 3015,1520 3027,1507 </obstacle>
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      <obstacle>3112,1444 3131,1440 3172,1470 3150,1530 3142,1496 3118,1495 3133,1468 </obstacle>
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      <obstacle>3157,1123 3164,1147 3145,1177 3141,1144 </obstacle>
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      <obstacle>399,795 428,807 421,836 436,861 443,841 464,857 443,876 427,871 </obstacle>
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      <obstacle>458,775 452,790 413,792 434,772 </obstacle>
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      <obstacle>2185,1469 2198,1460 2230,1475 2199,1483 </obstacle>
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      <obstacle>2451,1417 2451,1464 2427,1499 2434,1423 </obstacle>
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      <obstacle>1403,1288 1435,1285 1440,1304 1411,1311 </obstacle>
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      <obstacle>1041,1206 1085,1202 1088,1223 1049,1225 </obstacle>
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      <obstacle>1243,1228 1276,1223 1285,1200 1339,1207 1336,1237 1306,1230 1252,1247 </obstacle>
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      <obstacle>1292,1111 1314,1113 1318,1145 1290,1144 </obstacle>
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      <obstacle>2550,1107 2518,1137 2499,1136 2506,1117 </obstacle>
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      <obstacle>2391,1073 2418,1088 2432,1135 2446,1097 2459,1096 2455,1154 2412,1148 2418,1123 2403,1126 2383,1088 </obstacle>
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      <obstacle>1031,1030 1048,1040 1048,1087 1020,1043 </obstacle>
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      <obstacle>2391,1038 2420,1022 2460,1045 2414,1057 </obstacle>
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      <obstacle>1273,1027 1327,1020 1339,1037 1282,1047 </obstacle>
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      <obstacle>2576,1018 2632,1013 2637,1038 2668,1039 2678,1060 2676,1023 2725,1017 2736,1057 2718,1074 2727,1114 2707,1110 2710,1063 2640,1059 2626,1089 2600,1091 2607,1109 2576,1144 2564,1122 2586,1083 </obstacle>
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      <obstacle>2824,1201 2808,1233 2777,1244 2305,1257 2313,1280 2296,1290 2280,1285 2279,1247 2167,1258 2180,1222 2150,1227 2146,1268 2134,1248 2034,1237 1930,1249 1884,1239 1875,1223 1794,1224 1775,1241 1708,1225 1625,1245 1609,1029 1773,1020 1812,1035 1856,1018 1903,1034 1913,1019 2127,1018 2127,1047 2085,1051 2092,1140 2084,1197 2123,1197 2133,1173 2229,1177 2235,1067 2195,1112 2178,1021 2283,1005 2305,1032 2289,1101 2293,1197 2348,1169 2377,1174 2389,1194 2584,1176 2618,1192 2816,1189 </obstacle>
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      <obstacle>3170,850 3173,867 3153,875 3144,853 </obstacle>
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      <obstacle>1893,761 1896,782 1879,792 1867,775 </obstacle>
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    </obstacles>
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  </environment>
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</multiagentproblem>