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Police say the taxi drivers moved on as requested at 3pm and Trafalgar Square was now "business as usual but with a knock-on effect".
Paul White, from the London taxi branch of the RMT, said drivers want their rights protected in the face of what he called 'a threat to our right to ply for hire', adding:
"We want to go further than this protest today. We want TfL to understand that we're concerned about the laws being upheld. And we want that right to ply for hire enshrined in law."
Get more here: Taxi drivers create gridlock in central London.
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Boris Johnson has also given the controversial minicab firm Uber seven days to reveal whether it is based in London or Amsterdam.
London Mayor Boris Johnson has urged black cab drivers to abandon tomorrow's protest - as the Metropolitan Police imposes new restrictions