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

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Text this: Tau theory based path planning for quadrotors