libstage (The Stage Library) provides a C code library for simulating a population of mobile robots and sensors. It is usually used as a plugin driver for Player, but it can also be used directly to build custom simulations.
libstage is modular and fairly simple to use. The following code is enough to get a complete robot simulation running:
#include "stage.h" int main( int argc, char* argv[] ) { stg_init( argc, argv ); stg_world_t* world = stg_world_create_from_file( argv[1] ); while( (stg_world_update( world,TRUE )==0) ) {} stg_world_destroy( world ); return 0; }