Parece estar tudo igual, mas, quando eu abro a página busca, aparece um erro bizonho

O erro que aparece quando eu acesso a página busca é:

HTTP Status 500 - An exception occurred processing JSP page /WEB-INF/paginas/buscaempresa.jsp at line 20

type Exception report

message An exception occurred processing JSP page /WEB-INF/paginas/buscaempresa.jsp at line 20

description The server encountered an internal error that prevented it from fulfilling this request.

exception

org.apache.jasper.JasperException: An exception occurred processing JSP page /WEB-INF/paginas/buscaempresa.jsp at line 20

17:             Resultado da busca:
18:         <ul>
19:             <c:forEach var="empresa" items="${empresas}">
20:                        <li>${empresas.id} ${empresas.nome} </li>}
21:                        </c:forEach>
22:         </ul>
23:     </body>


Stacktrace:
    org.apache.jasper.servlet.JspServletWrapper.handleJspException(JspServletWrapper.java:574)
    org.apache.jasper.servlet.JspServletWrapper.service(JspServletWrapper.java:476)
    org.apache.jasper.servlet.JspServlet.serviceJspFile(JspServlet.java:396)
    org.apache.jasper.servlet.JspServlet.service(JspServlet.java:340)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    org.netbeans.modules.web.monitor.server.MonitorFilter.doFilter(MonitorFilter.java:393)
    br.com.alura.gerenciador.BuscaEmpresa.doGet(BuscaEmpresa.java:58)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:622)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    org.netbeans.modules.web.monitor.server.MonitorFilter.doFilter(MonitorFilter.java:393)
    br.com.alura.gerenciador.FiltroDeAuditoria.doFilter(FiltroDeAuditoria.java:65)
root cause

javax.el.PropertyNotFoundException: Property 'id' not found on type java.util.HashMap$Values
    javax.el.BeanELResolver$BeanProperties.get(BeanELResolver.java:268)
    javax.el.BeanELResolver$BeanProperties.access$300(BeanELResolver.java:221)
    javax.el.BeanELResolver.property(BeanELResolver.java:355)
    javax.el.BeanELResolver.getValue(BeanELResolver.java:95)
    org.apache.jasper.el.JasperELResolver.getValue(JasperELResolver.java:110)
    org.apache.el.parser.AstValue.getValue(AstValue.java:169)
    org.apache.el.ValueExpressionImpl.getValue(ValueExpressionImpl.java:184)
    org.apache.jasper.runtime.PageContextImpl.proprietaryEvaluate(PageContextImpl.java:943)
    org.apache.jsp.WEB_002dINF.paginas.buscaempresa_jsp._jspx_meth_c_005fforEach_005f0(buscaempresa_jsp.java:178)
    org.apache.jsp.WEB_002dINF.paginas.buscaempresa_jsp._jspService(buscaempresa_jsp.java:134)
    org.apache.jasper.runtime.HttpJspBase.service(HttpJspBase.java:70)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    org.apache.jasper.servlet.JspServletWrapper.service(JspServletWrapper.java:438)
    org.apache.jasper.servlet.JspServlet.serviceJspFile(JspServlet.java:396)
    org.apache.jasper.servlet.JspServlet.service(JspServlet.java:340)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    org.netbeans.modules.web.monitor.server.MonitorFilter.doFilter(MonitorFilter.java:393)
    br.com.alura.gerenciador.BuscaEmpresa.doGet(BuscaEmpresa.java:58)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:622)
    javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    org.netbeans.modules.web.monitor.server.MonitorFilter.doFilter(MonitorFilter.java:393)
    br.com.alura.gerenciador.FiltroDeAuditoria.doFilter(FiltroDeAuditoria.java:65)
note The full stack trace of the root cause is available in the Apache Tomcat/8.0.27 logs.

Meu método doGet do buscaEmpresa.java é:

    @Override
    protected void doGet(HttpServletRequest req, HttpServletResponse resp) throws ServletException, IOException {

        String filtro = req.getParameter("filtro");     //Filtro vai receber o parametro dado na url ex www....../busca?filtro=fodase
        Collection<Empresa> empresas = new EmpresaDAO().buscaPorSimilaridade(filtro); //simulador de um BD com várias empresas

        req.setAttribute("empresas", empresas);

        RequestDispatcher dispatcher = req.getRequestDispatcher("WEB-INF/paginas/buscaempresa.jsp");

        dispatcher.forward(req, resp);

e minha página buscaempresa.jps é:

<%-- 
    Document   : buscaempresa
    Created on : 12/05/2017, 13:39:08
    Author     : bruno
--%>

<%@ taglib prefix="c" uri="http://java.sun.com/jsp/jstl/core" %>
<%@page contentType="text/html" pageEncoding="UTF-8"%>
<!DOCTYPE html>
<html>
    <head>
        <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
        <title>JSP Page</title>
    </head>
    <body>

            Resultado da busca:
        <ul>
            <c:forEach var="empresa" items="${empresas}">
                       <li>${empresas.id} ${empresas.nome} </li>}
                       </c:forEach>
        </ul>
    </body>
</html>