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Arthashastra

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सम विषम निम्न स्थल ह्रस्व दीर्घ वशेन वा अध्वनो यात्रां विभजेत् ॥

One should prepare a programme of short and long distances to be marched in accordance with the nature of the ground to be traversed, viz., even ground, uneven ground, valleys and plains.

english translation