The MÆDEN Simulator is research-grade code consisting of: the Java sources for the simulator, a manual keyboard controller, and approximately 100 test worlds of varying difficulties. We have implemented and can share a small number of example controllers written in PLT Scheme (now Racket), Common Lisp, and Java.
The code for the simulator is functional and usable, but new features are being added. Recently, we have introduced an asynchronous mode where agents can sense/reason/act on different time scales; this feature is still undocumented. In the near future, we intend to add a wrapper to the server that will provide a more automated means for running simulations.
If you would like to experiment with MÆDEN, contact Wayne Iba and we will be glad to provide a tarball. Naturally, we would appreciate feedback and any fixes or enhancements you think are appropriate.