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is it correct that space x used uccnc motion planner to land the first 2 boosters back at the launch site
and mach3 motion planner for the one that was supposed to land on the autonymous barge?

I'm sorry but I don't understand the question. Please explain.

you obviously didnt watch the space x falcon heavy launch and recovery
best motion planning ive ever seen!
https://www.youtube.com/watch?v=wbSwFU6tY1c