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  _____      ___      ______   _    _     _____   
 /  ___||   / _ \\   /_____// | || | ||  |__  //  
| // __    / //\ \\  `____ `  | || | ||    / //   
| \\_\ || |  ___  || /___//   | \\_/ ||   / //__  
 \____//  |_||  |_|| `__ `     \____//   /_____|| 
  `---`   `-`   `-`  /_//       `---`    `-----`  
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Text this: Task-based flocking algorithm for mobile robot cooperation