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  ____       ___     __   __    _____             
 |  _ \\    / _ \\   \ \\/ //  |  ___||   ____    
 | |_| ||  / //\ \\   \   //   | ||__    |    \\  
 | .  //  |  ___  ||  / . \\   | ||__    | [] ||  
 |_|\_\\  |_||  |_|| /_//\_\\  |_____||  |  __//  
 `-` --`  `-`   `-`  `-`  --`  `-----`   |_|`-`   
                                         `-`

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Text this: Virtual obstacle concept for local-minimum-recovery in potential-field based navigation