     ``THIS CODE IS SUPPLIED  ``AS IS'' WITHOUT WARRANTY OF ANY KIND, 
     AND ITS AUTHOR AND THE JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH 
     (JAIR) AND JAIR'S PUBLISHERS AND DISTRIBUTORS, DISCLAIM ANY AND ALL 
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     ANY WARRANTIES OR NON INFRINGEMENT.  THE USER ASSUMES ALL LIABILITY AND
     RESPONSIBILITY FOR USE OF THIS CODE, AND NEITHER THE AUTHOR NOR
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     DAMAGES OF ANY KIND RESULTING FROM ITS USE.   Without limiting the 
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     publishers and distributors, warrant that the Code will be 
     error-free, will operate without interruption, or will meet the needs 
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The Quicktime file  ariane.mov demonstrates two applications of the
Ariadne's clew algorithm.

1) 

Motion planning for a mobile robot in a maze. This planner runs on a
single processor.

2) 

Motion planning for a six degrees of freedom arm placed in a dynamic
environment with another arm moving independently. This planner runs on a
parallel machine.

The file ariane.mov is suitable for the latest version of
Quicktime which can be obtained at the following address :

http://www.apple.com/quicktime/download/index.html


The files film1.gif and film2.gif demonstrate the work done by
Dr. Juan Manuel Ahuactzin and Dr. Kamal Gupta using the Ariandne's
clew algorithm. These files demonstrate another application of the
algorithm for path planning and regrasping.

