The McMichaels and Bryan are already serving life sentences in Georgia after being convicted of murder in a state court last fall.
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All three were previously convicted of murder in a Georgia state court and sentenced to life in prison for the fatal shooting.
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Arbery's parents denounced the deal as a betrayal, and called on the judge to reject it.
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A jury convicted all three men of murder, aggravated assault, false imprisonment and attempted false imprisonment in November.
Travis McMichael is one of three white men on trial for murder.
64-year-old Greg McMichael and 34-year-old Travis McMichael were charged last month with felony murder and aggravated assault.
The Justice Department has announced federal hate crime charges in the death of a Georgia man who was killed while out for a run last year.