<?xml version="1.0" ?><systems>  
      <system>    
            <id>0</id>    
            <priority>0</priority>    
            <components>      
                  <component>        
                        <id>OpenScenarioActions</id>        
                        <schedule>          
                              <priority>400</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>OpenScenarioActions</library>        
                        <parameters/>        
                  </component>      
                  <component>        
                        <id>Dynamics_TrajectoryFollower</id>        
                        <schedule>          
                              <priority>50</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>Dynamics_TrajectoryFollower</library>        
                        <parameters>          
                              <parameter>            
                                    <id>EnforceTrajectory</id>            
                                    <type>bool</type>            
                                    <unit/>            
                                    <value>true</value>            
                              </parameter>          
                              <parameter>            
                                    <id>AutomaticDeactivation</id>            
                                    <type>bool</type>            
                                    <unit/>            
                                    <value>true</value>            
                              </parameter>          
                        </parameters>        
                  </component>      
                  <component>        
                        <id>Dynamics_Collision</id>        
                        <schedule>          
                              <priority>50</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>Dynamics_Collision</library>        
                        <parameters/>        
                  </component>      
                  <component>        
                        <id>PrioritizerDynamics</id>        
                        <schedule>          
                              <priority>25</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>SignalPrioritizer</library>        
                        <parameters>          
                              <parameter>            
                                    <id>1</id>            
                                    <type>int</type>            
                                    <unit/>            
                                    <value>2</value>            
                              </parameter>          
                              <parameter>            
                                    <id>2</id>            
                                    <type>int</type>            
                                    <unit/>            
                                    <value>1</value>            
                              </parameter>          
                        </parameters>        
                  </component>      
                  <component>        
                        <id>AgentUpdater</id>        
                        <schedule>          
                              <priority>1</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>AgentUpdater</library>        
                        <parameters/>        
                  </component>      
                  <component>        
                        <id>Sensor_RecordState</id>        
                        <schedule>          
                              <priority>2</priority>          
                              <offset>0</offset>          
                              <cycle>10</cycle>          
                              <response>0</response>          
                        </schedule>        
                        <library>Sensor_RecordState</library>        
                        <parameters/>        
                  </component>      
            </components>    
            <connections>      
                  <connection>        
                        <id>201</id>        
                        <source>          
                              <component>Dynamics_TrajectoryFollower</component>          
                              <output>0</output>          
                        </source>        
                        <target>          
                              <component>PrioritizerDynamics</component>          
                              <input>2</input>          
                        </target>        
                  </connection>      
                  <connection>        
                        <id>401</id>        
                        <source>          
                              <component>Dynamics_Collision</component>          
                              <output>0</output>          
                        </source>        
                        <target>          
                              <component>PrioritizerDynamics</component>          
                              <input>1</input>          
                        </target>        
                  </connection>      
                  <connection>        
                        <id>501</id>        
                        <source>          
                              <component>PrioritizerDynamics</component>          
                              <output>0</output>          
                        </source>        
                        <target>          
                              <component>AgentUpdater</component>          
                              <input>0</input>          
                        </target>        
                  </connection>      
                  <connection>        
                        <id>8471</id>        
                        <source>          
                              <component>OpenScenarioActions</component>          
                              <output>0</output>          
                        </source>        
                        <target>          
                              <component>Dynamics_TrajectoryFollower</component>          
                              <input>2</input>          
                        </target>        
                  </connection>      
            </connections>    
      </system>  
</systems>