1) Added links in README for the user manual pdf files
2) Added the exact xml files used in in papers in the README file
3) Corrected the start.xml and goal.xml
4) Added a note in README about the location of std library
5) Added a note in README about using multiple cores for compilation
6) Fixed a typo: from amep to ampe
7) Added a known issues section and mentioned the failure point when the run has no prefix
8) Added the mapping between planning algorithms and c++ classes in the README file