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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>16</x>
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<y>36</y>
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</point>
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<point id="1">
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<x>273</x>
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<y>33</y>
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</point>
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<point id="2">
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<x>274</x>
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<y>89</y>
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</point>
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<point id="3">
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<x>288</x>
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<y>90</y>
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</point>
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<point id="4">
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<x>289</x>
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<y>34</y>
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</point>
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<point id="5">
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<x>542</x>
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<y>35</y>
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</point>
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<point id="6">
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<x>543</x>
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<y>171</y>
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</point>
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<point id="7">
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<x>558</x>
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<y>171</y>
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</point>
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<point id="8">
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<x>558</x>
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<y>36</y>
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</point>
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<point id="9">
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<x>982</x>
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<y>35</y>
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</point>
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<point id="10">
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<x>984</x>
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<y>404</y>
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</point>
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<point id="11">
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<x>559</x>
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<y>405</y>
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</point>
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<point id="12">
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<x>557</x>
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<y>330</y>
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</point>
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<point id="13">
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<x>543</x>
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<y>330</y>
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</point>
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<point id="14">
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<x>543</x>
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<y>417</y>
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</point>
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<point id="15">
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<x>984</x>
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<y>417</y>
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</point>
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<point id="16">
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<x>984</x>
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<y>982</y>
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</point>
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<point id="17">
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<x>17</x>
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<y>986</y>
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</point>
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<point id="18">
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<x>17</x>
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<y>605</y>
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</point>
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<point id="19">
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<x>289</x>
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<y>607</y>
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</point>
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<point id="20">
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<x>290</x>
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<y>513</y>
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</point>
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<point id="21">
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<x>274</x>
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<y>514</y>
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</point>
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<point id="22">
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<x>274</x>
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<y>592</y>
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</point>
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<point id="23">
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<x>15</x>
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<y>592</y>
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</point>
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<point id="24">
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<x>15</x>
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<y>318</y>
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</point>
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<point id="25">
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<x>274</x>
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<y>322</y>
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</point>
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<point id="26">
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<x>273</x>
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<y>355</y>
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</point>
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<point id="27">
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<x>289</x>
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<y>353</y>
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</point>
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<point id="28">
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<x>288</x>
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<y>248</y>
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</point>
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<point id="29">
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<x>273</x>
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<y>246</y>
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</point>
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<point id="30">
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<x>274</x>
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<y>307</y>
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</point>
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<point id="31">
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<x>17</x>
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<y>307</y>
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</point>
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<point id="32">
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<x>17</x>
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<y>39</y>
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</point>
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<point id="33">
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<x>1</x>
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<y>39</y>
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</point>
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<point id="34">
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<x>3</x>
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<y>993</y>
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</point>
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<point id="35">
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<x>997</x>
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<y>991</y>
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</point>
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<point id="36">
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<x>997</x>
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<y>19</y>
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</point>
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<point id="37">
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<x>17</x>
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<y>20</y>
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</point>
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<point id="38">
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<x>3</x>
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<y>19</y>
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</point>
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<point id="39">
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<x>1</x>
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<y>37</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>735</x>
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<y>653</y>
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</point>
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<point id="1">
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<x>748</x>
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<y>652</y>
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</point>
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<point id="2">
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<x>747</x>
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<y>558</y>
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</point>
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<point id="3">
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<x>457</x>
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<y>557</y>
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</point>
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<point id="4">
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<x>457</x>
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<y>843</y>
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</point>
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<point id="5">
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<x>748</x>
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<y>842</y>
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</point>
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<point id="6">
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<x>748</x>
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<y>814</y>
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</point>
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<point id="7">
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<x>735</x>
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<y>813</y>
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</point>
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<point id="8">
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<x>736</x>
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<y>830</y>
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</point>
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<point id="9">
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<x>471</x>
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<y>829</y>
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</point>
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<point id="10">
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<x>470</x>
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<y>571</y>
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</point>
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<point id="11">
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<x>735</x>
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<y>570</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>118</x>
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<y>178</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>627</x>
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<y>646</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>