@conference { ZaFr06, title = {A {3D} Simulator of Multiple Legged Robots based on {USARSim}}, booktitle = {RoboCup06-title}, series = {RoboCup06-series}, year = {2006}, pages = {13{\textendash}24}, publisher = {RoboCup-publisher}, organization = {RoboCup-publisher}, isbn = {RoboCup06-isbn}, author = {M. Zaratti and M. Fratarcangeli and L. Iocchi} }