☕ MOCHA: Multi-robot Opportunistic Communication for Heterogeneous Collaboration

This repository contains the distributed and opportunistic communication stack used for multi-robot experiments at KumarRobotics.

Directories

• mocha_launch/: launch files the different robots in MOCHA. The launch file sets up the robot_name argument,
• mocha_core/: MOCHA's main components (source code, config files).
• interface_rajant/: interface for Rajant breadrumb radios

Dependencies:

MOCHA requires rospkg, defusedxml, and python3-zmq. You may install these packages with:

sudo apt update
pip3 install rospkg
pip3 install defusedxml
sudo apt install python3-zmq

Contribution - Questions

Please fill-out an issue if you have any questions. Do not hesitate to send your pull request.

Citation

If you find MOCHA useful, please cite:

@INPROCEEDINGS{cladera2024enabling,
  author={Cladera, Fernando and Ravichandran, Zachary and Miller, Ian D. and Ani Hsieh, M. and Taylor, C. J. and Kumar, Vijay},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  title={{Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications}},
  year={2024},
  pages={2610-2616},
  doi={10.1109/ICRA57147.2024.10611469}
}