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Text this: Circuit grid approach for mobile robot path planning

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

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