Jeff Yakey
  Multiple Robot Coordination
  Com S 576
  May 8, 1998

    This is the source code to compute the optimal set of strategies for
  coordinating multiple robots.  The code is based on algorithms presented in
  the paper:

	Optimal Motion Planning for Multiple Robots Having Independant Goals
	          by: Steven M. Lavalle and Seth A. Hutchinson

  In order to fully understand the algorithms, it is recommended that this
  paper be read.  The following is a description of the source code files, and
  how to get the code and example files to run.

  Files:

  Makefile:  This is the file used to compile the program.  It assumes that the
      _x_basic.o file is in the directory that the code is in.

  xfig2mp:  This is a modified version of the original PERL script.  This 
      incorporates features for allowing manual path specification.

  main.C:  The main program.

  world.C/world.h:  This is a class containing code to parse the input files,
      plus it keeps track of all the configuration attributes of the robots.

  path.C/path.h:  This is the class used for computing the coordination of 
      two robots.  It is a subclass of the world class.

  path3.C/path3.h:  This is the class used for computing the coordination of 
      three robots.  It is a subclass of the world class.
 
  Running the program:

    First, compile the code by typing make.  This will generate an executable
  named main.  Then, an input file must be created by using xfig.  The 
  specifications can be obtained by looking in the xfig2mp PERL script, or by
  looking at one of the provided examples.  Once the .fig file has been 
  created, the xfig2mp script must be run on it by typing:

       xfig2mp (xfig file) > (ouput file)

  The program is then run by typing:

       main (output file)

  From there, the menus should be fairly self explanatory.  Be careful though,
  since the menu code is not very robust and doesn't always act nicely when
  given wierd input.  From there, the program should be running and computing
  robot coordination.