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We theoretically report that, at a sharp electrostatic step potential in graphene, massless Dirac fermions can obtain Goos-H"{a}nchen-like shifts under total internal reflection. Based on these results, we study the coherent propagation of the quasiparticles along a sharp graphene \emph{p-n-p} waveguide and derive novel dispersion relations for the guided modes. Consequently, coherent graphene devices (e.g. movable mirrors, buffers and memories) induced only by the electric field effect can be proposed.

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