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

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