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You might also be interested in the MORSE simulator:

http://www.openrobots.org/wiki/morse/

I remember a video where Gilberto Echverria simulated an aerial vehicle following a ground vehicle or several robots following each other:

http://vimeo.com/9825826

http://vimeo.com/38334797

It´s release 0.5 at the moment but works with ROS...

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