Text this: Cooperative collision avoidance in multirobot systems using fuzzy rules and velocity obstacles

  ______   __   __    _____      ___              
 /_   _//  \ \\/ //  |__  //    / _ \\      ___   
 `-| |,-    \ ` //     / //    / //\ \\    /   || 
   | ||      | ||     / //__  |  ___  ||  | [] || 
   |_||      |_||    /_____|| |_||  |_||   \__ || 
   `-`'      `-`'    `-----`  `-`   `-`     -|_|| 
                                             `-`