Lächele, J Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
http://laechele.eu/wp-content/uploads/2012/09/Laechele_Johannes_Development_of_a_Real-Time_Simulation_Environment_for_multiple_Robot_Systems.pdf (Publisher version)
Lächele, J. (2012). Development of a Real-Time Simulation Environment for multiple Robot Systems. Diploma Thesis, Eberhard Karls Universität, Tübingen, Germany.