USARSim is a high-fidelity simulation of mobile robots and environments based on the Unreal Tournament game engine. It is intended as a research and teaching tool and comes with a large set of robots (air, ground, and water), sensors (cameras, LIDAR, sonors, ...) and environments.
USARSim allows any program capible of opening a socket to place and control robots in the world. It is also the basis for the RoboCup Virtual Urban Search and Rescue Competition. This release includes a new communications model, bug fixes, and new documentation.
Download USARSim here: http://sourceforge.net/project/showfiles.php?group_id=145394