@booklet {2013i-LaeRieRobFra,
	title = {SwarmSimX and TeleKyb: Two ROS-integrated Software Frameworks for Single- and Multi-Robot Applications},
	howpublished = {Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation},
	year = {2013},
	month = {05/2013},
	address = {Karlsruhe, Germany},
	keywords = {Middleware for robotics, Simulators for robotics},
	url = {http://icra2013mrs.tuebingen.mpg.de/},
	author = {Johannes L{\"a}chele and Martin Riedel and Paolo Robuffo Giordano and Antonio Franchi}
}
@inbook {2012m-LaeFraBueRob,
	title = {SwarmSimX: Real-time Simulation Environment for Multi-robot Systems},
	booktitle = {3rd Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots},
	year = {2012},
	month = {11/2012},
	address = {Tsukuba, Japan},
	abstract = {In this paper we present a novel simulation environment called SwarmSimX with the ability to simulate dozens of robots in a realistic 3D environment. The software architecture of SwarmSimX allows new robots, sensors, and other libraries to be loaded at runtime, extending the functionality of the simulation environment significantly. In addition, SwarmSimX allows an easy exchange of the underlying libraries used for the visual and physical simulation to incorporate different libraries (e.g., improved or future versions). A major feature is also the possibility to perform the whole simulation in real-time allowing for human-in-the-loop or hardware-in-the-loop scenarios. SwarmSimX has been already employed in several works presenting haptic shared control of multiple mobile robots (e.g., quadrotor UAVs). Additionally, we present here two validation tests showing the physical delity and the real-time performance of SwarmSimX. For the tests we used NVIDIA PhysX and Ogre3D as physics and rendering libraries, respectively},
	keywords = {Multi-robot systems, Simulators for robotics},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012m-LaeFraBueRob-preprint.pdf},
	author = {Johannes L{\"a}chele and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
