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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<!-- Generated by graphviz version 2.38.0 (20140413.2041)
+ -->
+<!-- Title: %3 Pages: 1 -->
+<svg width="278pt" height="152pt"
+ viewBox="0.00 0.00 277.58 152.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 148)">
+<title>%3</title>
+<polygon fill="white" stroke="none" points="-4,4 -4,-148 273.582,-148 273.582,4 -4,4"/>
+<!-- uav -->
+<g id="node1" class="node"><title>uav</title>
+<ellipse fill="none" stroke="black" cx="32.4971" cy="-72" rx="32.4942" ry="18"/>
+<text text-anchor="middle" x="32.4971" y="-68.3" font-family="Times,serif" font-size="14.00">Drone</text>
+</g>
+<!-- server -->
+<g id="node2" class="node"><title>server</title>
+<ellipse fill="none" stroke="black" cx="134.791" cy="-72" rx="33.5952" ry="18"/>
+<text text-anchor="middle" x="134.791" y="-68.3" font-family="Times,serif" font-size="14.00">Server</text>
+</g>
+<!-- uav&#45;&gt;server -->
+<g id="edge1" class="edge"><title>uav&#45;&gt;server</title>
+<path fill="none" stroke="black" d="M75.3834,-72C80.4375,-72 85.6067,-72 90.678,-72"/>
+<polygon fill="black" stroke="black" points="75.2308,-68.5001 65.2308,-72 75.2308,-75.5001 75.2308,-68.5001"/>
+<polygon fill="black" stroke="black" points="90.8818,-75.5001 100.882,-72 90.8817,-68.5001 90.8818,-75.5001"/>
+</g>
+<!-- client1 -->
+<g id="node3" class="node"><title>client1</title>
+<ellipse fill="none" stroke="black" cx="237.085" cy="-126" rx="32.4942" ry="18"/>
+<text text-anchor="middle" x="237.085" y="-122.3" font-family="Times,serif" font-size="14.00">Client</text>
+</g>
+<!-- server&#45;&gt;client1 -->
+<g id="edge3" class="edge"><title>server&#45;&gt;client1</title>
+<path fill="none" stroke="black" d="M168.49,-89.6056C179.866,-95.7304 192.61,-102.592 203.94,-108.692"/>
+<polygon fill="black" stroke="black" points="169.77,-86.3196 159.306,-84.6606 166.451,-92.4831 169.77,-86.3196"/>
+<polygon fill="black" stroke="black" points="202.6,-111.946 213.064,-113.605 205.918,-105.783 202.6,-111.946"/>
+</g>
+<!-- client2 -->
+<g id="node4" class="node"><title>client2</title>
+<ellipse fill="none" stroke="black" cx="237.085" cy="-72" rx="32.4942" ry="18"/>
+<text text-anchor="middle" x="237.085" y="-68.3" font-family="Times,serif" font-size="14.00">Client</text>
+</g>
+<!-- server&#45;&gt;client2 -->
+<g id="edge5" class="edge"><title>server&#45;&gt;client2</title>
+<path fill="none" stroke="black" d="M178.635,-72C183.796,-72 189.063,-72 194.211,-72"/>
+<polygon fill="black" stroke="black" points="178.631,-68.5001 168.631,-72 178.631,-75.5001 178.631,-68.5001"/>
+<polygon fill="black" stroke="black" points="194.537,-75.5001 204.537,-72 194.537,-68.5001 194.537,-75.5001"/>
+</g>
+<!-- clientn -->
+<g id="node5" class="node"><title>clientn</title>
+<ellipse fill="none" stroke="black" cx="237.085" cy="-18" rx="32.4942" ry="18"/>
+<text text-anchor="middle" x="237.085" y="-14.3" font-family="Times,serif" font-size="14.00">Client</text>
+</g>
+<!-- server&#45;&gt;clientn -->
+<g id="edge7" class="edge"><title>server&#45;&gt;clientn</title>
+<path fill="none" stroke="black" d="M168.49,-54.3944C179.866,-48.2696 192.61,-41.4079 203.94,-35.3075"/>
+<polygon fill="black" stroke="black" points="166.451,-51.5169 159.306,-59.3394 169.77,-57.6804 166.451,-51.5169"/>
+<polygon fill="black" stroke="black" points="205.918,-38.2175 213.064,-30.395 202.6,-32.0541 205.918,-38.2175"/>
+</g>
+</g>
+</svg>