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

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Text this: Determination of goal pose for accurate parking of nonholonomic robots