MissionLab v5.0,  Jan 2002
============================

This software allows the user to configure and execute missions using
simulated or real robots that are controlled by reactive control techniques
developed at Georgia Institute of Technology.

MissionLab v5.0, Copyright 1995 - 1997, 1999 - 2002 ALL RIGHTS RESERVED.  
See the file COPYRIGHT for details.

The files in this directory are:

   README         - This file (basic information)
	      
   README.COMPILE - Compilation directions.
	      
   README.IPT     - Information about IPT (the CMU interprocess communication 
                    software) 
	      
   COPYRIGHT      - A description of the copyright restrictions for this
                    software 


In the doc directory (PostScript format):

    mlab_manual.ps        - The user's manual for MissionLab

    cnl_manual.ps         - The CNL user's manual

    ipt-v6.4_IPTManual.ps - The user's manual for IPT

    * Note: mlab_manual.ps is the only manual that has been updated for this
            release. You may find oudated information in other documents.


In the bin directory:

    mlab                  - The MissionLab program console program

    robot/tmr_robot-1998  - A robot program that MissionLab executes to simulate a
                            robotic vehicle.  The MissionLab console program (mlab)
		            runs these for you; don't run them yourself.

    iptserver             - A communication name server package from CMU.
                            It must be running before starting mlab.

    cnl                   - The configuration network language (CNL) compiler.  This
                            is necessary to create libcnl.a and new robot executables.

    cdl                   - The configuration description language (CDL) which is used
                            to abstractly describe robot operational and behavioral
		            configurations.

    cfgedit               - The robot configuration editor.  It is a graphical editor
                            which generates a CDL description which is then compiled
		            with CDL.

    hserer                - The hardware server. It controls all the robot hardware.

In the demos directory:

    mars_demos      - a sub-directory that contains demos for DARPA's Mobile Autonomous
                      Robot Software Robotics program.

    tmr_demos       - a sub-directory that contains demos for DARPA's Tactical Mobile
                      Robotics program.

    mlab-2.0_demos  - a sub-directory that contains demos that were included in the
                      MissionLab 2.0 version.

    usability_demos - a sub-directory that contains various examples of missions
                      been constructed by CfgEdit.

    pioneer_demos   - a sub-directory that can experiment the Piooner AT (ActivMedia,
                      Inc.).

    urby_demos      - a sub-directory that can experiment the Urban Robot (iRobot)

In the src directory:

    mlab          - source files for the MissionLab console program (mlab)

    telop         - source files for the teleoperation interface to MissionLab

    robot         - source files for the robot executable

    cnl           - source files for the CNL compiler

    libcnl        - source files for the cnl library.  These form general
                    routines available for the robot code to use.

    load_cdl      - CDL library files

    cdl           - source files for the CDL compiler.

    cfgedit       - source files the configuration editor.

    hardware_drivers  - source files for the drivers for our hardware.
			These are included as an example for how to set up
			drivers for your hardware.

    load_rc	  - source files for loading resource files

    compass       - source files for the compass window of the MissionLab console.

Please address questions to:

   Prof. Ronald Arkin
   College of Computing
   801 Atlantic Av.
   Atlanta, GA 30332-0280
   arkin@cc.gatech.edu

or

   mlab@cc.gatech.edu