Design and use paradigms for gazebo, an open-source multi-robot simulator. Koenig, N. and Howard, A. In Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., volume 3, pages 2149–2154, September, 2004.
bibtex   
@InProceedings{SCC.Koenig.Howard2004,
  author    = {Koenig, N. and Howard, A.},
  title     = {Design and use paradigms for gazebo, an open-source multi-robot simulator},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst.},
  year      = {2004},
  volume    = {3},
  pages     = {2149--2154},
  month     = sep,
  owner     = {walters8},
  timestamp = {2017-07-11},
}
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