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   _____   __   __   _    _      ___      _____   
  / ___//  \ \\/ // | |  | ||   / _ \\   / ____|| 
  \___ \\   \ ` //  | |/\| ||  / //\ \\ / //---`' 
  /    //    | ||   |  /\  || |  ___  ||\ \\___   
 /____//     |_||   |_// \_|| |_||  |_|| \_____|| 
`-----`      `-`'   `-`   `-` `-`   `-`   `----`

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Text this: Design of a communication system for multi-mobile robot coordination