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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>201</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>197</x>
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                    <y>102</y>
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                </point>
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                <point id="2">
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                    <x>379</x>
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                    <y>106</y>
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                </point>
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                <point id="3">
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                    <x>377</x>
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                    <y>5</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>590</x>
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                    <y>5</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>341</y>
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                </point>
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                <point id="2">
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                    <x>778</x>
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                    <y>273</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>5</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>197</x>
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                    <y>312</y>
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                </point>
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                <point id="1">
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                    <x>377</x>
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                    <y>312</y>
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                </point>
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                <point id="2">
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                    <x>380</x>
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                    <y>404</y>
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                </point>
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                <point id="3">
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                    <x>197</x>
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                    <y>471</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>198</x>
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                    <y>666</y>
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                </point>
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                <point id="1">
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                    <x>377</x>
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                    <y>603</y>
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                </point>
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                <point id="2">
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                    <x>377</x>
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                    <y>758</y>
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                </point>
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                <point id="3">
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                    <x>197</x>
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                    <y>826</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>680</x>
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                    <y>509</y>
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                </point>
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                <point id="1">
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                    <x>659</x>
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                    <y>513</y>
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                </point>
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                <point id="2">
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                    <x>636</x>
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                    <y>523</y>
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                </point>
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                <point id="3">
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                    <x>619</x>
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                    <y>534</y>
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                </point>
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                <point id="4">
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                    <x>602</x>
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                    <y>556</y>
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                </point>
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                <point id="5">
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                    <x>587</x>
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                    <y>588</y>
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                </point>
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                <point id="6">
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                    <x>587</x>
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                    <y>628</y>
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                </point>
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                <point id="7">
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                    <x>596</x>
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                    <y>654</y>
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                </point>
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                <point id="8">
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                    <x>608</x>
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                    <y>672</y>
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                </point>
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                <point id="9">
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                    <x>626</x>
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                    <y>689</y>
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                </point>
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                <point id="10">
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                    <x>640</x>
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                    <y>698</y>
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                </point>
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                <point id="11">
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                    <x>662</x>
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                    <y>706</y>
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                </point>
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                <point id="12">
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                    <x>689</x>
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                    <y>711</y>
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                </point>
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                <point id="13">
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                    <x>735</x>
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                    <y>709</y>
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                </point>
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                <point id="14">
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                    <x>761</x>
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                    <y>702</y>
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                </point>
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                <point id="15">
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                    <x>788</x>
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                    <y>687</y>
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                </point>
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                <point id="16">
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                    <x>809</x>
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                    <y>664</y>
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                </point>
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                <point id="17">
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                    <x>822</x>
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                    <y>636</y>
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                </point>
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                <point id="18">
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                    <x>825</x>
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                    <y>600</y>
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                </point>
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                <point id="19">
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                    <x>814</x>
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                    <y>562</y>
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                </point>
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                <point id="20">
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                    <x>791</x>
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                    <y>533</y>
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                </point>
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                <point id="21">
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                    <x>758</x>
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                    <y>515</y>
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                </point>
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                <point id="22">
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                    <x>736</x>
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                    <y>509</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>508</x>
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                    <y>997</y>
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                </point>
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                <point id="1">
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                    <x>778</x>
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                    <y>997</y>
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                </point>
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                <point id="2">
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                    <x>778</x>
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                    <y>904</y>
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                </point>
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                <point id="3">
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                    <x>509</x>
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                    <y>903</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>991</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>940</x>
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                    <y>902</y>
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                </point>
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                <point id="2">
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                    <x>945</x>
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                    <y>996</y>
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                </point>
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                <point id="3">
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                    <x>996</x>
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                    <y>996</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>100</x>
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                    <y>50</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>450</x>
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                    <y>700</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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    <agents>
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        <agent>
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            <start>
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                <point>
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                    <x>450</x>
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                    <y>700</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>100</x>
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                    <y>50</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>