Hei Steffen!
This could easily be done with f.ex. MSHR, the default meshing env. in FEniCS. Another option is to use gmsh to mesh everything, then convert it to .xml using dolfin-convert.
Using mshr:
from dolfin import *
from mshr import *
# Create circles as Circle(Center, Radius)
circle1 = Circle(Point(0,0), 5)
circle2 = Circle(Point(-1,0), 0.2)
circle3 = Circle(Point(1,0), 0.2)
circle4 = Circle(Point(0,1), 0.2)
circle5 = Circle(Point(0,-1), 0.2)
domain = circle1 - circle2 - circle3 - circle4 - circle5
r = 150 # Resolution of mesh
mesh = generate_mesh(domain, r)
plot(mesh, interactive=True)
Should be quite straightforward to create your mesh! MSHR also has the possibility to control sizes of cells and so on, check its wiki and API here : https://bitbucket.org/benjamik/mshr/wiki/Home. There are a lot of possibilites!
Hope this helps!