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  ______    ______   _    _      ___     _____    
 /_   _//  /_   _// | |  | ||   / _ \\  |  __ \\  
 `-| |,-    -| ||-  | |/\| ||  / //\ \\ | |  \ || 
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   |_||    /_____// |_// \_|| |_||  |_|||_____//  
   `-`'    `-----`  `-`   `-` `-`   `-`  -----`

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Text this: Adaptive cooperative control of multi-agent systems