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

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Text this: A GENETIC ALGORITHM APPROACH TO NONHOLONOMIC PATH PLANNING