0 0                           # Start State
25 35                         # Goal State
10                            # Number of obstacles
0 0 5 0 5 5 0 5               # Obstacle 1
6 2 8 2 8 25 6 25             # Obstacle 2
10 10 12 10 12 12 10 12       # Obstacle 3
15 0 20 5 15 10 10 5          # Obstacle 4
10 15 15 13 17 18 12 20       # Obstacle 5
24 4 26 6 21 11 19 9          # Obstacle 6
28 7 30 9 22 17 20 15         # Obstacle 7
26 19 31 24 30 25 25 20       # Obstacle 8
20 20 25 25 15 35 10 30       # Obstacle 9
22 33 25 33 25 35 22 35       # Obstacle 10