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Ali Fedotowsky & Roberto Martinez Split

The couple, who became engaged in 2010, have "ended their relationship," a rep tells PEOPLE

Ali Fedotowsky: 'We Are Not Planning a Wedding'

The former Bachelorette says she and Roberto are "happy" but in no rush to tie the knot

Ali Fedotowsky Is No Bridezilla, Says Fiancé

"She's awesome," Roberto Martinez says of his Bachelorette bride-to-be