In April 2000, the U.S. Geological Survey (USGS) and National Geographic (NG) TOPO entered into a cooperative research and development agreement (CRADA) to explore a new technology that would allow a person to walk into a map retail store and print a personalized topographic map, vending machine style, from a self-service kiosk. Work began to develop systems that offer seamless, digitally stored USGS topographic maps using map-on-demand software from NG TOPO. The vending machine approach ensures that maps are never out of stock, allows customers to define their own map boundaries, and gives customers choices regarding shaded relief and the grids to be printed on the maps to get the exact maps they need.