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Centroid
1) Intersection of medians
2) 2:1 ratio
Circumcenter
1) Intersection of perpendicular (⊥) bisectors
2) Equidistant from all vertices
3) Center of circumcircle
4) Can be in, on, or outside the triangle
Incenter
1) Intersection of angle bisectors
2) Equidistant from all sides
3) Center of the incircle
4) Always inside the triangle
Orthocenter
1) Intersection of altitudes
2) Can be inside, on, or outside the triangle