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

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Text this: Integrated planning and control of mobile robot with self-organizing neural network