☕ 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:

@misc{cladera2023enabling,
      title={Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications}, 
      author={Fernando Cladera and Zachary Ravichandran and Ian D. Miller and M. Ani Hsieh and C. J. Taylor and Vijay Kumar},
      year={2023},
      eprint={2309.15975},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}