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

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Text this: TRAJECTORY GENERATION AND TRACKING FOR AUTONOMOUS DRIVING IN URBAN ENVIRONMENT