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 /_____//   / _ \\   |__  //    / _ \\      ___   
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 `__ `      \___//   /_____|| |_||  |_||   \__ || 
 /_//       `---`    `-----`  `-`   `-`     -|_|| 
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Text this: Vision-based flexible leader-follower formation tracking of multiple nonholonomic mobile robots in unknown obstacle environments