<beans:bean id="accessDecisionManager" class="org.springframework.security.vote.AffirmativeBased">
<beans:property name="decisionVoters">
<beans:list>
<beans:bean id="roleVoter" class="org.springframework.security.vote.RoleVoter">
<beans:property name="rolePrefix" value="PREFIX_HERE" />
</beans:bean>
<beans:bean class="org.springframework.security.vote.AuthenticatedVoter"/>
</beans:list>
</beans:property>
</beans:bean>
To use your custom accessDecisionManager, reference it in the http declaration, like so:
<http auto-config="true" ... access-decision-manager-ref="accessDecisionManager">
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