Multi-Agent Path Finding (benchmark 4)

% The Map
size(5, 5).
blocked(1, 1). blocked(3, 1). blocked(5, 1).
blocked(1, 3). blocked(3, 3). blocked(5, 3).
blocked(1, 5). blocked(3, 5). blocked(5, 5).

agent(a). agent(b). agent(c). agent(d).
start(a, 2, 1). target(a, 4, 5).
start(b, 2, 5). target(b, 4, 1).
start(c, 1, 2). target(c, 5, 2).
start(d, 1, 4). target(d, 5, 4).

timeLimit(7).