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__    __     ___     ______      ___     _    _   
\ \\ / //   / _ \\  |      \\   / _ \\  | |  | || 
 \ \/ //   | / \ || |  --  //  | / \ || | |/\| || 
  \  //    | \_/ || |  --  \\  | \_/ || |  /\  || 
   \//      \___//  |______//   \___//  |_// \_|| 
    `       `---`   `------`    `---`   `-`   `-`

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