How to use the "gvg" program with Nserver

	The Nserver
	
	The Nserver is available from the downloads page and is 
	located in the /server/ directory. To launch the server
	simply execute: ./Nserver
	
	
	
	This will open several small windows whose menus are
	very straightforward. You should have no difficulty in
	creating your own environments and .map files.
	
	Nserver windows:
	
	
	
	NOTE: The GVG explorer was designed with a dependency on
	the range of its sonar sensors such that large spaces in
	the environment foil the program and will cause undefined
	behavior. The map on the left is valid, and the map on the
	right is invalid:
	
	
	
	Note that the Nserver runs on a specified port number and
	is configured for use with one robot model per session.
	This information is located in the server directory in the
	files: world.setup and robot.setup.
	You may modify both of these files to run the Nserver for
	the robot model and port number of your choice.
	
	We recommend setting the Nserver to show the robot's path,
	hide the obstacles, and show sonar readings before launching
	the GVG exploration program.
	
	

	The GVG explorer
	
	The "gvg" executable is run as follows: ./gvg
	The program has optional parameters and is capable of reading
	a reusable configuration file. Run ./gvg -help for details.
	
	
	
	The exploration program runs an integer driven menu console which is
	straightforward to navigate around and use. This console is a "launcher"
	for the main exploration routine. The menu is designed to allow you
	to be sure that you are running the correct robot model and port number
	to connect to the Nserver.
	
	Upon launching the main program a white X-window will be opened and
	execution is paused until you click on the center of this window.

	

   	The window is a display of the robot's surroundings as sensed by its
	sonar array; not all of the readings are shown. The circles you see
	represent a short history of sonar readings that are used to optimize
	the calculation of the GVG edges in the environment. Read the papers
	available at the overview page for more information. 

	
	
	When the program is finished the robot will halt and the program will
	show its final graph structure in text form on the terminal window from
	which it was launched. You will be prompted to: Press any key to exit.	

How to use the "GVG" program on a robot

	The GVG direct mode
	
	To run the program in direct mode on the robot, simply compile the "GVG" executable and put
	the executable on the robot machine. Then connect to the robot remotely and type: ./gvg
	
	This version of the program runs the same launcher menu and will explore the robot's real
	environment, and no X-windows will be opened. The log files will still be generated as normal.
	

How to use the "disp" utility

	The display utility
	
	Included with our software is the "disp" executable.  This utility reads the log files
	generated by either the gvg or GVG program and allows you to step through the
	recorded process. An X-window similar to the "white window" from the exploring program
	shows the step-wise history while the terminal window shows how far along the total process
	the robot has gone.
	
	The program is invoked: ./disp <logFilesName> 
	where the files logFilesName.local and logFilesName.graph will be read and processed.