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| \  / ||  \ \\/ //   / ___// | || | ||  |  _ \\  
|  \/  ||   \ ` //    \___ \\ | || | ||  | |_| || 
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|_|\/|_||    |_||    /____//   \____//   |_|\_\\  
`-`  `-`     `-`'   `-----`     `---`    `-` --`

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