Text this: Formation and reconfiguration control for multi-robotic systems

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