GVG Software version 1.0 Overview

   These pages document the GVG mapping program developed by Keiji Nagatani for use with
   the Nomad N200 mobile robot. This software has since been updated for use on both the
   N200 and Scout2 model robots. The program is an implementation based on these papers.

   The source code allows compilation of three executables: "gvg", "GVG", and "disp" which are
   simulated mode and direct mode binaries, and a graphic log file display program, respectively.

   The "gvg" executable connects to an Nserver running on the same machine. 
   The "GVG" binary is for use on the real robots. Both flavors of the program write a log file
   which may be used later by the "disp" program to graphically re-trace the exploration.

   These pages do not explain the GVG exploration algorithm. This information is located in various
   publications here. This manual is to assist with using our source code available here.
	
   The Makefile included with the GVG software allows you to compile the three aforementioned
   executables. The code is written in C and is compiled as follows:
	
     % make         The default make, you may also type make all. This is the "gvg" executable.
     % make direct  This builds the "GVG" executable for use directly on the robots.
     % make disp    This builds the graphical logfile X-display utility.
     % make clean   This removes all object files for a clean recompile and applies to all builds.