How can I remove index.php from URL in Codeigniter?

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$config['index_page'] = "index.php" to $config['index_page'] = "" 
and
$config['uri_protocol'] ="AUTO" to $config['uri_protocol'] = "REQUEST_URI"

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RewriteEngine on
RewriteCond $1 !^(index\.php|[Javascript / CSS / Image root Folder name(s)]|robots\.txt)
RewriteRule ^(.*)$ /index.php/$1 [L]