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

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Text this: Collision free path-planning for UAV flight near obstacles