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

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Text this: Distributed consensus-based multitarget filtering and its application in formation-containment control