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\section{The S5\_ObsAvoid Mission}
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\label{mission_s5_obsavoid}

The \var{s5\_obsavoid} mission demonstrates a simple case of the
obstacle avoidance behavior avoiding a single polygon obstacle at a
fixed location. The vehicle is otherwise traversing back and forth
between two locations (using the LegRun behavior) and the obstacle
is conveniently position right between the two points.



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