https://github.com/kumarrobotics/mocha

Multi-robot Opportunistic Communication Framework for Heterogeneous Collaboration
https://github.com/kumarrobotics/mocha

Last synced: about 1 month ago
JSON representation

Multi-robot Opportunistic Communication Framework for Heterogeneous Collaboration

• Host: GitHub
• URL: https://github.com/kumarrobotics/mocha
• Owner: KumarRobotics
• License: bsd-3-clause
• Created: 2021-10-22T16:57:40.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2024-11-26T01:53:47.000Z (6 months ago)
• Last Synced: 2025-03-25T09:02:43.953Z (about 2 months ago)
• Language: Python
• Homepage:
• Size: 459 KB
• Stars: 25
• Watchers: 5
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
☕ MOCHA: Multi-robot Opportunistic Communication for Heterogeneous Collaboration

---------------------------------------------------------------------------------

![MOCHA gif](mocha.gif)

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](https://github.com/KumarRobotics/MOCHA/issues) if you have any questions.

Do not hesitate to [send your pull request](https://github.com/KumarRobotics/MOCHA/pulls).

## 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}

}

```