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

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Text this: MOTION CONTROL AND LOCALISATION OF ROBOTIC FISH