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

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