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 _    _     _____                ___     _____    
| \  / ||  |  ___||     ___     / _ \\  |  __ \\  
|  \/  ||  | ||__      /   ||  / //\ \\ | |  \ || 
| .  . ||  | ||__     | [] || |  ___  ||| |__/ || 
|_|\/|_||  |_____||    \__ || |_||  |_|||_____//  
`-`  `-`   `-----`      -|_|| `-`   `-`  -----`   
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Text this: Predefined-time platoon control of unmanned aerial vehicle with range-limited communication