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            ______    ______    _____     ______  
  ____     /_   _//  /_   _//  |  ___||  /_____// 
 |    \\    -| ||-     | ||    | ||__    `____ `  
 | [] ||    _| ||_    _| ||    | ||__    /___//   
 |  __//   /_____//  /__//     |_____||  `__ `    
 |_|`-`    `-----`   `--`      `-----`   /_//     
 `-`                                     `-`

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Text this: Path planning, re-planning and traversal in real-time dynamic environments