@InProceedings{SimSpark2013,
  Title                    = {{SimSpark: An Open Source Robot Simulator Developed by the RoboCupCommunity}},
  Author                   = {Yuan Xu and Hedayat Vatankhah},
  Booktitle                = {the Proceedings of the 17th Annual RoboCup International Symposium},
  Year                     = {2013},

  Address                  = {Eindhoven, Netherlands},
  Month                    = {July},
  Publisher                = {Springer},

  Abstract                 = {SimSpark is an open source robot simulator developed by RoboCup Community. This paper briefly describes the development of SimSpark since 2008. Furthermore, some new features are proposed and implemented for the next RoboCup, including realistic motor, heterogeneous robots, and agent proxies. As a powerful tool to state different multi-robot researches, SimSpark has been successfully used in RoboCup simulation league, standard platform league and humanoid league.}
}