Click on each of the following links to download the
Tutorial 1 - Working with Grid and Vector Maps in Word or in Adobe PDF
Tutorial 2 - Path planning and Voronoi Diagrams in Word or in Adobe PDF
Tutorial 3 - Tools for Altering Maps in Word or in Adobe PDF
Tutorial 4 - Building Maps From Sonar Data with MapViewer 2.1 in ZIP format. Also contains many sample sonar data files.
Paper I wrote on how to convert grid maps to vector maps in Word or in Adobe PDF