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| || | ||  |  ___||   ____     |  ___||   / ___// 
| '--' ||  | ||__    |    \\   | ||__     \___ \\ 
| .--. ||  | ||__    | [] ||   | ||__     /    // 
|_|| |_||  |_____||  |  __//   |_____||  /____//  
`-`  `-`   `-----`   |_|`-`    `-----`  `-----`   
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Text this: Design of a communication system for multi-mobile robot coordination