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  ______   __   __    _  __    _____     _____   
 /_____//  \ \\/ //  | |/ //  |  ___||  / ____|| 
 `____ `    \ ` //   | ' //   | ||__   / //---`' 
 /___//      | ||    | . \\   | ||__   \ \\___   
 `__ `       |_||    |_|\_\\  |_____||  \_____|| 
 /_//        `-`'    `-` --`  `-----`    `----`  
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Text this: Collision free path-planning for UAV flight near obstacles