@article{fontanelli2019portable,
  title={Portable dVRK: an augmented V-REP simulator of the da Vinci Research Kit},
  author={Fontanelli, Giuseppe Andrea and Selvaggio, Mario and Ferro, Marco and Ficuciello, Fanny and Vendittelli, Marilena and Siciliano, Bruno},
  journal={Acta Polytechnica Hungarica},
  volume={16},
  number={8},
  pages={79--98},
  year={2019}
}