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Ariandne's Clew Algorithm

The planner runs under X11 on a sun workstation with the Solaris
operating system.  It is designed to plan the motion of a single mobile
robot. The user may change the location of the obstacles while the robot
is moving.


RUN THE PROGRAM.

enter "planning".   

TELL THE NAME OF THE ENVIRONMENT.

After the prompt enter the name of the environment description file,
e.g. : "example5.env, example7.env or example9.env".

The environment appears in a new window.

PLACE THE VEHICLE IN THE INITIAL POSITION.

Click the right button to select the initial position (outside an obstacle)

PLACE THE VEHICLE IN THE FINAL POSITION.

Click the right button to select the final position (outside an obstacle)

A motion is now computed and the robot starts moving along the computed path.

HOW TO MOVE THE OBSTACLES.

It is possible to move the obstacles around while the robot is
moving  (careful it is not really dragging). To do so :

Click the right button inside an obstacle.
Click the right button again somewhere to select the obstacle new position
(be careful! do not place the obstacle above the robot).

A new plan is immediately computed.

************* BUGS *******
The environment window may not open. Removing the Netscape windows
might help.
*************************





