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

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Text this: Graph-based map representations for efficient path planning in virtual environments