agents:
-   goal: [2, 4]
    name: agent0
    start: [2, 1]
-   goal: [4, 0]
    name: agent1
    start: [6, 7]
map:
    dimensions: [8, 8]
    obstacles:
    - [2, 6]
    - [4, 7]
    - [0, 7]
    - [3, 2]
    - [7, 5]
    - [1, 3]
    - [2, 2]
    - [6, 2]
    - [7, 6]
    - [7, 7]
    - [6, 0]
    - [2, 5]
