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DULUTH,Minn.- Authorities have apprehended two prisoners who fled the Duluth Federal Prison Camp late Saturday.

The U.S. Marshals Service Northstar Fugitive Task Force located and arrested Gerald James Greenfield and Michael Joseph Krzyzaniak at about 1 a.m. today at a hotel in Burnsville, Minn., according to a news release.

The Duluth News Tribune reports thattips led authorities to the hotel, where the two men were located. They were arrested without incident on federal arrest warrants for escape from custody, and booked into the Ramsey County Jail pending an initial appearance in U.S. District Court.

Greenfield and Krzyzaniak, imprisoned at the facility after being convicted of defrauding investors of millions of dollars, were discovered missing at about 10 p.m. Saturday from the minimum-security camp near the Duluth International Airport, according to officials from the Federal Bureau of Prisons.

Krzyzaniak, 64, from Minneapolis, and Greenfield, 67, from Bloomington, Minn., were discovered missing during an evening headcount. Krzyzaniak and Greenfield were not considered armed, dangerous or violent, prison officials said.