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             ___      ____      ______    ______  
  ____      / _ \\   |  _ \\   /_   _//  /_   _// 
 |    \\   | / \ ||  | |_| ||   -| ||-   `-| |,-  
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 |  __//    \___//   |_|\_\\   /_____//    |_||   
 |_|`-`     `---`    `-` --`   `-----`     `-`'   
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Text this: Integrated relative localization and leader–follower formation control