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

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