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

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Text this: Formation tracking of mobile robots under obstacles using only an active RGB-D camera