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   _____     ___                 ___              
  / ___//   / _ \\    ____      / _ \\    ____    
  \___ \\  / //\ \\  |    \\   | / \ ||  |    \\  
  /    // |  ___  || | [] ||   | \_/ ||  | [] ||  
 /____//  |_||  |_|| |  __//    \___//   |  __//  
`-----`   `-`   `-`  |_|`-`     `---`    |_|`-`   
                     `-`                 `-`

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Text this: Development of multi-robot system : coordination and formation