Stage 3.X.X onwards, it is a stand alone simulator and the robot behaviour can be controlled using 'controllers', the installation provides with some basic controllers which serves the purposes of wandering, laser noise, swarm formation etc. However such calls for the facility for writing custom made stage controllers.
Dr.Vaughan has provided a template for designing such controllers for stage 4.X.X, https://github.com/rtv/stagectrl; I have forked out a version of the same for stage 3.X.X; http://mobotica.googlecode.com/files/stagectrl_stage3.tar.gz .
The README file has instructions on how to use this template.
|Fig.1. The default simulation for the template|