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

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