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Implement SPS strat 2 #39

@alexgaoo

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@alexgaoo

Drop the first SPS on the initial point A. Then head to the closest large item, drop the second SPS there (B) and perform a small circular motion to drop the third SPS to a point C. If we plan this carefully, we may be able to control the size of the circle and the resulting triangle. It seems difficult though.

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