<br><tt><a href="#select_task">to select a task</a></tt></center>

<p><br>
<br>&nbsp;
<br>&nbsp;
<ul><li>
<a NAME="algorithm"></a><font size=+1>Click button "Algorithm" on the toolbar
to bring up the window "Planning Algorithm Selector" (Figure 1).</font></li></ul>

<blockquote><tt>select "Forward" planner from the pull-down list.</tt></blockquote>
<center><img SRC="runPlanner1.gif" height=243 width=602>
<p><b><tt><font color="#000066"><font size=-1>Figure 1 Select an algorithm</font></font></tt></b></cente