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Two sets of travellers have set up camp in a popular park and a leisure centre.
Council officials are currently dealing with one group in Penenden Heath while another has been reported at Mote Park Leisure Centre.
Around six caravans are at Penenden Heath in a car park used by many commuters and visitors to the park.
One woman, who did not wish to be named, said she saw Maidstone Borough Council officials speaking with several women wrapped up in their dressing gowns.
She said: "There are several vehicles and quad bikes and there are gas canisters by the children's play area.
"It is quite intimidating because they occupy the whole car park. I wouldn't mind if they lined their caravans up and left some space. It is just disrespectful towards the whole community.
"These car parks are used by a lot of people and it is a big inconvenience. It is antisocial to say the least.
"We are now expecting the treecutting vehicles to come round now and ask us all if we need any work doing.
"I am sure the council will do their best."
A spokeswoman for Maidstone Borough Council said: "We have two groups encamped in Maidstone at the moment, one at Penenden Heath, the other at Mote Park leisure centre.
"The Community Protection Team are dealing with both, welfare checks and site assessments have been carried out this morning and S77 Notices directing the groups to leave in 24 hours will be issued later today.
"Realistically the groups will likely remain in situ over the weekend until we can get a court appointment to seek the order to remove them, or there is crime and disorder issues with one or both of the groups leading the Police to use their powers."