2061: Odyssey Three by Arthur C. Clarke 

Book Description (see Amazon or Librarything for customer reviews etc):

Arthur C. Clark, creator of one of the world's best-loved science fiction tales, revisits the most famous future ever imagined in this NEW YORK TIMES bestseller, as two expeditions into space become inextricably tangled. Heywood Floyd, survivor of two previous encounters with the mysterious monloiths, must again confront Dave Bowman, HAL, and an alien race that has decided that Mankind is to play a part in the evolution of the galaxy whether it wishes to or not.

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