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           __   __    _____    __   __    _____   
  ____     \ \\/ //  |__  //   \ \\/ //  |__  //  
 |    \\    \ ` //     / //     \ ` //     / //   
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 |  __//     |_||    /_____||    |_||    /_____|| 
 |_|`-`      `-`'    `-----`     `-`'    `-----`  
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Text this: Integrated planning and control of mobile robot with self-organizing neural network