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I read them in Asimov's suggested order, and have added the posthumous additions to the Foundation universe to my reading list as well. I'm on "Foundation's Fear" right now-- here's my reading list:
The Complete Robot
Caves of Steel
The Naked Sun
The Robots of Dawn
Robots and Empire
The Currents of Space
The Stars, Like Dust
Pebble in the Sky
Prelude to Foundation
Forward the Foundation
Foundation
Foundation and Empire
Second Foundation
Foundation's Edge
Foundation and Earth
Foundation's Friends
Foundation's Fear
Foundation and Chaos
Foundation's Triumph
Caliban
Inferno
Utopia
Mirage
Chimera
Aurora
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