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USARSim (Unified System for Automation and Robot Simulation) is a high-fidelity simulation of robots and environments based on the Unreal Tournament game engine. It is intended as a research tool and is the basis for the RoboCup rescue virtual robot comp
QASE is a Java-based API designed to provide all the functionality needed to create game agents in Quake 2. Powerful enough to facilitate high-end research, it is also suitable for undergrad courses geared towards classic AI and agent-based systems.
A-Life CAD is a toolkit providing a graphical interface for designing autonomous agents that can be linked against an AIgame engine. Though it focuses on creating boid-like behaviours, it can also be used for physical simulation or swarm optimisation.
AGISim is a framework for the creation of virtual worlds for artificial intelligence research, allowing AI and human controlled agents to interact in realtime within sensory-rich contexts. AGISim is built on the Crystal Space 3D game engine.