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

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Text this: Cooperative intersection management for mixed traffic