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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<multiagentproblem>
3
<environment>
4
<obstacles>
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<obstacle>
6
<point id="0">
7
<x>216</x>
8
<y>273</y>
9
</point>
10
<point id="1">
11
<x>228</x>
12
<y>287</y>
13
</point>
14
<point id="2">
15
<x>233</x>
16
<y>282</y>
17
</point>
18
<point id="3">
19
<x>242</x>
20
<y>295</y>
21
</point>
22
<point id="4">
23
<x>212</x>
24
<y>326</y>
25
</point>
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<point id="5">
27
<x>248</x>
28
<y>370</y>
29
</point>
30
<point id="6">
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<x>421</x>
32
<y>208</y>
33
</point>
34
<point id="7">
35
<x>383</x>
36
<y>162</y>
37
</point>
38
<point id="8">
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<x>247</x>
40
<y>291</y>
41
</point>
42
<point id="9">
43
<x>237</x>
44
<y>279</y>
45
</point>
46
<point id="10">
47
<x>241</x>
48
<y>275</y>
49
</point>
50
<point id="11">
51
<x>230</x>
52
<y>260</y>
53
</point>
54
</obstacle>
55
<obstacle>
56
<point id="0">
57
<x>335</x>
58
<y>173</y>
59
</point>
60
<point id="1">
61
<x>341</x>
62
<y>181</y>
63
</point>
64
<point id="2">
65
<x>370</x>
66
<y>153</y>
67
</point>
68
<point id="3">
69
<x>364</x>
70
<y>146</y>
71
</point>
72
</obstacle>
73
<obstacle>
74
<point id="0">
75
<x>389</x>
76
<y>124</y>
77
</point>
78
<point id="1">
79
<x>407</x>
80
<y>144</y>
81
</point>
82
<point id="2">
83
<x>398</x>
84
<y>152</y>
85
</point>
86
<point id="3">
87
<x>405</x>
88
<y>159</y>
89
</point>
90
<point id="4">
91
<x>413</x>
92
<y>152</y>
93
</point>
94
<point id="5">
95
<x>434</x>
96
<y>176</y>
97
</point>
98
<point id="6">
99
<x>495</x>
100
<y>119</y>
101
</point>
102
<point id="7">
103
<x>474</x>
104
<y>94</y>
105
</point>
106
<point id="8">
107
<x>482</x>
108
<y>84</y>
109
</point>
110
<point id="9">
111
<x>476</x>
112
<y>77</y>
113
</point>
114
<point id="10">
115
<x>469</x>
116
<y>85</y>
117
</point>
118
<point id="11">
119
<x>450</x>
120
<y>65</y>
121
</point>
122
</obstacle>
123
<obstacle>
124
<point id="0">
125
<x>452</x>
126
<y>232</y>
127
</point>
128
<point id="1">
129
<x>482</x>
130
<y>266</y>
131
</point>
132
<point id="2">
133
<x>513</x>
134
<y>237</y>
135
</point>
136
<point id="3">
137
<x>541</x>
138
<y>270</y>
139
</point>
140
<point id="4">
141
<x>587</x>
142
<y>225</y>
143
</point>
144
<point id="5">
145
<x>574</x>
146
<y>210</y>
147
</point>
148
<point id="6">
149
<x>562</x>
150
<y>221</y>
151
</point>
152
<point id="7">
153
<x>554</x>
154
<y>214</y>
155
</point>
156
<point id="8">
157
<x>570</x>
158
<y>199</y>
159
</point>
160
<point id="9">
161
<x>554</x>
162
<y>180</y>
163
</point>
164
<point id="10">
165
<x>538</x>
166
<y>196</y>
167
</point>
168
<point id="11">
169
<x>531</x>
170
<y>186</y>
171
</point>
172
<point id="12">
173
<x>545</x>
174
<y>173</y>
175
</point>
176
<point id="13">
177
<x>531</x>
178
<y>157</y>
179
</point>
180
</obstacle>
181
<obstacle>
182
<point id="0">
183
<x>222</x>
184
<y>450</y>
185
</point>
186
<point id="1">
187
<x>239</x>
188
<y>471</y>
189
</point>
190
<point id="2">
191
<x>323</x>
192
<y>391</y>
193
</point>
194
<point id="3">
195
<x>347</x>
196
<y>420</y>
197
</point>
198
<point id="4">
199
<x>389</x>
200
<y>381</y>
201
</point>
202
<point id="5">
203
<x>372</x>
204
<y>361</y>
205
</point>
206
<point id="6">
207
<x>438</x>
208
<y>298</y>
209
</point>
210
<point id="7">
211
<x>462</x>
212
<y>326</y>
213
</point>
214
<point id="8">
215
<x>482</x>
216
<y>309</y>
217
</point>
218
<point id="9">
219
<x>432</x>
220
<y>251</y>
221
</point>
222
<point id="10">
223
<x>415</x>
224
<y>269</y>
225
</point>
226
<point id="11">
227
<x>406</x>
228
<y>259</y>
229
</point>
230
<point id="12">
231
<x>299</x>
232
<y>361</y>
233
</point>
234
<point id="13">
235
<x>306</x>
236
<y>370</y>
237
</point>
238
</obstacle>
239
<obstacle>
240
<point id="0">
241
<x>544</x>
242
<y>443</y>
243
</point>
244
<point id="1">
245
<x>525</x>
246
<y>412</y>
247
</point>
248
<point id="2">
249
<x>525</x>
250
<y>399</y>
251
</point>
252
<point id="3">
253
<x>548</x>
254
<y>369</y>
255
</point>
256
<point id="4">
257
<x>578</x>
258
<y>348</y>
259
</point>
260
<point id="5">
261
<x>590</x>
262
<y>348</y>
263
</point>
264
<point id="6">
265
<x>616</x>
266
<y>370</y>
267
</point>
268
<point id="7">
269
<x>629</x>
270
<y>387</y>
271
</point>
272
<point id="8">
273
<x>639</x>
274
<y>405</y>
275
</point>
276
<point id="9">
277
<x>639</x>
278
<y>418</y>
279
</point>
280
<point id="10">
281
<x>626</x>
282
<y>436</y>
283
</point>
284
<point id="11">
285
<x>607</x>
286
<y>455</y>
287
</point>
288
<point id="12">
289
<x>586</x>
290
<y>469</y>
291
</point>
292
<point id="13">
293
<x>574</x>
294
<y>469</y>
295
</point>
296
<point id="14">
297
<x>561</x>
298
<y>461</y>
299
</point>
300
</obstacle>
301
<obstacle>
302
<point id="0">
303
<x>119</x>
304
<y>656</y>
305
</point>
306
<point id="1">
307
<x>196</x>
308
<y>684</y>
309
</point>
310
<point id="2">
311
<x>219</x>
312
<y>636</y>
313
</point>
314
<point id="3">
315
<x>222</x>
316
<y>638</y>
317
</point>
318
<point id="4">
319
<x>237</x>
320
<y>605</y>
321
</point>
322
<point id="5">
323
<x>232</x>
324
<y>603</y>
325
</point>
326
<point id="6">
327
<x>257</x>
328
<y>549</y>
329
</point>
330
<point id="7">
331
<x>191</x>
332
<y>502</y>
333
</point>
334
<point id="8">
335
<x>174</x>
336
<y>526</y>
337
</point>
338
<point id="9">
339
<x>160</x>
340
<y>552</y>
341
</point>
342
<point id="10">
343
<x>158</x>
344
<y>566</y>
345
</point>
346
<point id="11">
347
<x>144</x>
348
<y>595</y>
349
</point>
350
<point id="12">
351
<x>134</x>
352
<y>610</y>
353
</point>
354
<point id="13">
355
<x>126</x>
356
<y>627</y>
357
</point>
358
</obstacle>
359
<obstacle>
360
<point id="0">
361
<x>64</x>
362
<y>902</y>
363
</point>
364
<point id="1">
365
<x>65</x>
366
<y>862</y>
367
</point>
368
<point id="2">
369
<x>82</x>
370
<y>864</y>
371
</point>
372
<point id="3">
373
<x>88</x>
374
<y>751</y>
375
</point>
376
<point id="4">
377
<x>100</x>
378
<y>752</y>
379
</point>
380
<point id="5">
381
<x>101</x>
382
<y>696</y>
383
</point>
384
<point id="6">
385
<x>118</x>
386
<y>698</y>
387
</point>
388
<point id="7">
389
<x>118</x>
390
<y>717</y>
391
</point>
392
<point id="8">
393
<x>188</x>
394
<y>720</y>
395
</point>
396
<point id="9">
397
<x>192</x>
398
<y>745</y>
399
</point>
400
<point id="10">
401
<x>184</x>
402
<y>878</y>
403
</point>
404
<point id="11">
405
<x>178</x>
406
<y>916</y>
407
</point>
408
<point id="12">
409
<x>142</x>
410
<y>915</y>
411
</point>
412
<point id="13">
413
<x>143</x>
414
<y>906</y>
415
</point>
416
</obstacle>
417
<obstacle>
418
<point id="0">
419
<x>250</x>
420
<y>922</y>
421
</point>
422
<point id="1">
423
<x>260</x>
424
<y>733</y>
425
</point>
426
<point id="2">
427
<x>286</x>
428
<y>675</y>
429
</point>
430
<point id="3">
431
<x>356</x>
432
<y>710</y>
433
</point>
434
<point id="4">
435
<x>363</x>
436
<y>720</y>
437
</point>
438
<point id="5">
439
<x>359</x>
440
<y>780</y>
441
</point>
442
<point id="6">
443
<x>355</x>
444
<y>861</y>
445
</point>
446
<point id="7">
447
<x>351</x>
448
<y>929</y>
449
</point>
450
</obstacle>
451
<obstacle>
452
<point id="0">
453
<x>386</x>
454
<y>930</y>
455
</point>
456
<point id="1">
457
<x>395</x>
458
<y>752</y>
459
</point>
460
<point id="2">
461
<x>403</x>
462
<y>736</y>
463
</point>
464
<point id="3">
465
<x>633</x>
466
<y>853</y>
467
</point>
468
<point id="4">
469
<x>644</x>
470
<y>869</y>
471
</point>
472
<point id="5">
473
<x>638</x>
474
<y>947</y>
475
</point>
476
</obstacle>
477
<obstacle>
478
<point id="0">
479
<x>306</x>
480
<y>635</y>
481
</point>
482
<point id="1">
483
<x>368</x>
484
<y>668</y>
485
</point>
486
<point id="2">
487
<x>388</x>
488
<y>666</y>
489
</point>
490
<point id="3">
491
<x>535</x>
492
<y>527</y>
493
</point>
494
<point id="4">
495
<x>464</x>
496
<y>443</y>
497
</point>
498
<point id="5">
499
<x>339</x>
500
<y>566</y>
501
</point>
502
</obstacle>
503
<obstacle>
504
<point id="0">
505
<x>556</x>
506
<y>552</y>
507
</point>
508
<point id="1">
509
<x>430</x>
510
<y>672</y>
511
</point>
512
<point id="2">
513
<x>434</x>
514
<y>702</y>
515
</point>
516
<point id="3">
517
<x>644</x>
518
<y>809</y>
519
</point>
520
<point id="4">
521
<x>676</x>
522
<y>805</y>
523
</point>
524
<point id="5">
525
<x>727</x>
526
<y>756</y>
527
</point>
528
<point id="6">
529
<x>681</x>
530
<y>703</y>
531
</point>
532
<point id="7">
533
<x>668</x>
534
<y>715</y>
535
</point>
536
<point id="8">
537
<x>588</x>
538
<y>618</y>
539
</point>
540
<point id="9">
541
<x>601</x>
542
<y>605</y>
543
</point>
544
</obstacle>
545
<obstacle>
546
<point id="0">
547
<x>635</x>
548
<y>477</y>
549
</point>
550
<point id="1">
551
<x>597</x>
552
<y>513</y>
553
</point>
554
<point id="2">
555
<x>610</x>
556
<y>528</y>
557
</point>
558
<point id="3">
559
<x>644</x>
560
<y>497</y>
561
</point>
562
<point id="4">
563
<x>657</x>
564
<y>512</y>
565
</point>
566
<point id="5">
567
<x>638</x>
568
<y>529</y>
569
</point>
570
<point id="6">
571
<x>652</x>
572
<y>545</y>
573
</point>
574
<point id="7">
575
<x>670</x>
576
<y>527</y>
577
</point>
578
<point id="8">
579
<x>684</x>
580
<y>543</y>
581
</point>
582
<point id="9">
583
<x>649</x>
584
<y>576</y>
585
</point>
586
<point id="10">
587
<x>663</x>
588
<y>590</y>
589
</point>
590
<point id="11">
591
<x>694</x>
592
<y>559</y>
593
</point>
594
<point id="12">
595
<x>708</x>
596
<y>575</y>
597
</point>
598
<point id="13">
599
<x>692</x>
600
<y>592</y>
601
</point>
602
<point id="14">
603
<x>705</x>
604
<y>607</y>
605
</point>
606
<point id="15">
607
<x>722</x>
608
<y>593</y>
609
</point>
610
<point id="16">
611
<x>734</x>
612
<y>607</y>
613
</point>
614
<point id="17">
615
<x>703</x>
616
<y>637</y>
617
</point>
618
<point id="18">
619
<x>715</x>
620
<y>654</y>
621
</point>
622
<point id="19">
623
<x>747</x>
624
<y>623</y>
625
</point>
626
<point id="20">
627
<x>761</x>
628
<y>639</y>
629
</point>
630
<point id="21">
631
<x>743</x>
632
<y>655</y>
633
</point>
634
<point id="22">
635
<x>756</x>
636
<y>671</y>
637
</point>
638
<point id="23">
639
<x>773</x>
640
<y>654</y>
641
</point>
642
<point id="24">
643
<x>788</x>
644
<y>671</y>
645
</point>
646
<point id="25">
647
<x>756</x>
648
<y>702</y>
649
</point>
650
<point id="26">
651
<x>767</x>
652
<y>718</y>
653
</point>
654
<point id="27">
655
<x>806</x>
656
<y>681</y>
657
</point>
658
<point id="28">
659
<x>802</x>
660
<y>678</y>
661
</point>
662
<point id="29">
663
<x>810</x>
664
<y>667</y>
665
</point>
666
<point id="30">
667
<x>787</x>
668
<y>642</y>
669
</point>
670
<point id="31">
671
<x>835</x>
672
<y>594</y>
673
</point>
674
<point id="32">
675
<x>824</x>
676
<y>580</y>
677
</point>
678
<point id="33">
679
<x>775</x>
680
<y>626</y>
681
</point>
682
<point id="34">
683
<x>735</x>
684
<y>577</y>
685
</point>
686
<point id="35">
687
<x>774</x>
688
<y>539</y>
689
</point>
690
<point id="36">
691
<x>784</x>
692
<y>547</y>
693
</point>
694
<point id="37">
695
<x>800</x>
696
<y>534</y>
697
</point>
698
<point id="38">
699
<x>771</x>
700
<y>500</y>
701
</point>
702
<point id="39">
703
<x>756</x>
704
<y>511</y>
705
</point>
706
<point id="40">
707
<x>762</x>
708
<y>525</y>
709
</point>
710
<point id="41">
711
<x>722</x>
712
<y>563</y>
713
</point>
714
<point id="42">
715
<x>682</x>
716
<y>516</y>
717
</point>
718
<point id="43">
719
<x>731</x>
720
<y>466</y>
721
</point>
722
<point id="44">
723
<x>720</x>
724
<y>454</y>
725
</point>
726
<point id="45">
727
<x>670</x>
728
<y>499</y>
729
</point>
730
<point id="46">
731
<x>644</x>
732
<y>470</y>
733
</point>
734
</obstacle>
735
<obstacle>
736
<point id="0">
737
<x>899</x>
738
<y>641</y>
739
</point>
740
<point id="1">
741
<x>902</x>
742
<y>613</y>
743
</point>
744
<point id="2">
745
<x>895</x>
746
<y>612</y>
747
</point>
748
<point id="3">
749
<x>908</x>
750
<y>384</y>
751
</point>
752
<point id="4">
753
<x>765</x>
754
<y>375</y>
755
</point>
756
<point id="5">
757
<x>763</x>
758
<y>404</y>
759
</point>
760
<point id="6">
761
<x>724</x>
762
<y>400</y>
763
</point>
764
<point id="7">
765
<x>721</x>
766
<y>463</y>
767
</point>
768
<point id="8">
769
<x>831</x>
770
<y>472</y>
771
</point>
772
<point id="9">
773
<x>824</x>
774
<y>591</y>
775
</point>
776
<point id="10">
777
<x>876</x>
778
<y>595</y>
779
</point>
780
<point id="11">
781
<x>874</x>
782
<y>611</y>
783
</point>
784
<point id="12">
785
<x>869</x>
786
<y>612</y>
787
</point>
788
<point id="13">
789
<x>868</x>
790
<y>640</y>
791
</point>
792
</obstacle>
793
<obstacle>
794
<point id="0">
795
<x>934</x>
796
<y>416</y>
797
</point>
798
<point id="1">
799
<x>921</x>
800
<y>644</y>
801
</point>
802
<point id="2">
803
<x>933</x>
804
<y>646</y>
805
</point>
806
<point id="3">
807
<x>931</x>
808
<y>651</y>
809
</point>
810
<point id="4">
811
<x>948</x>
812
<y>655</y>
813
</point>
814
<point id="5">
815
<x>957</x>
816
<y>418</y>
817
</point>
818
</obstacle>
819
<obstacle>
820
<point id="0">
821
<x>311</x>
822
<y>0</y>
823
</point>
824
<point id="1">
825
<x>103</x>
826
<y>189</y>
827
</point>
828
<point id="2">
829
<x>0</x>
830
<y>564</y>
831
</point>
832
<point id="3">
833
<x>0</x>
834
<y>0</y>
835
</point>
836
</obstacle>
837
<obstacle>
838
<point id="0">
839
<x>583</x>
840
<y>0</y>
841
</point>
842
<point id="1">
843
<x>774</x>
844
<y>257</y>
845
</point>
846
<point id="2">
847
<x>1000</x>
848
<y>260</y>
849
</point>
850
<point id="3">
851
<x>1000</x>
852
<y>0</y>
853
</point>
854
</obstacle>
855
<obstacle>
856
<point id="0">
857
<x>1000</x>
858
<y>733</y>
859
</point>
860
<point id="1">
861
<x>740</x>
862
<y>872</y>
863
</point>
864
<point id="2">
865
<x>733</x>
866
<y>1000</y>
867
</point>
868
<point id="3">
869
<x>1000</x>
870
<y>1000</y>
871
</point>
872
</obstacle>
873
</obstacles>
874
<bounds>
875
<point>
876
<x>0</x>
877
<y>0</y>
878
</point>
879
<point>
880
<x>1000</x>
881
<y>1000</y>
882
</point>
883
</bounds>
884
</environment>
885
<agents>
886
<agent>
887
<start>
888
<point>
889
<x>125</x>
890
<y>470</y>
891
</point>
892
</start>
893
<target>
894
<point>
895
<x>840</x>
896
<y>800</y>
897
</point>
898
</target>
899
<radius>15</radius>
900
<maxspeed>1</maxspeed>
901
</agent>
902
<agent>
903
<start>
904
<point>
905
<x>670</x>
906
<y>860</y>
907
</point>
908
</start>
909
<target>
910
<point>
911
<x>220</x>
912
<y>750</y>
913
</point>
914
</target>
915
<radius>15</radius>
916
<maxspeed>1</maxspeed>
917
</agent>
918
<agent>
919
<start>
920
<point>
921
<x>400</x>
922
<y>440</y>
923
</point>
924
</start>
925
<target>
926
<point>
927
<x>220</x>
928
<y>960</y>
929
</point>
930
</target>
931
<radius>15</radius>
932
<maxspeed>1</maxspeed>
933
</agent>
934
</agents>
935
</multiagentproblem>