@incollection{ raey,
  title = {A 3D Simulator of Multiple Legged Robots Based on USARSim},
  author = {Zaratti, Marco and Fratarcangeli, Marco and Iocchi, Luca},
  booktitle = {RoboCup 2006: Robot Soccer World Cup X},
  publisher = {Springer Berlin Heidelberg},
  year = {2007},
  editor = {Lakemeyer, Gerhard and Sklar, Elizabeth and Sorrenti, DomenicoG. and Takahashi, Tomoichi},
  pages = {13-24},
  series = {Lecture Notes in Computer Science},
  volume = {4434},
  doi = {10.1007/978-3-540-74024-7_2},
  isbn = {978-3-540-74023-0},
  language = {English},
  pdf = {www.fratarcangeli.net/papers/robosim.zaratti.pdf},
  url = {http://dx.doi.org/10.1007/978-3-540-74024-7_2},
  video = {https://www.youtube.com/watch?v=-5mor4aeJ2A},
  video2 = {https://www.youtube.com/watch?v=V2ig4Vx3L1Y},
  video3 = {https://www.youtube.com/watch?v=zfiZW6t58SE}
}

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