USARSim 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 USAR simulation competition.
USARSim can work with player
Install Unreal Tournament 2004 Editors' Choice Edition in Linux
6CD version ( with linux-installer.sh , under ubuntu 8.04 )
6CD version Windows
some useful link
CopyArts Notes >