What is MOSAIC?

MOSAIC is a WebRTC-based real-time robot control and monitoring system designed for low-latency, bidirectional communication between robots and operators.

It provides a complete infrastructure — from the robot-side C++ library to the web-based operator dashboard — so you can focus on your robot’s application logic rather than building communication pipelines from scratch.

Why WebRTC?

Traditional robot communication stacks (ROS topics over LAN, custom TCP/UDP sockets, etc.) struggle when robots operate over the public internet. Firewalls, NATs, and network instability make reliable low-latency communication difficult.

WebRTC was originally designed for real-time browser video calls. MOSAIC repurposes it for robotics:

Peer-to-peer connections bypass servers after initial handshake, minimizing latency
NAT/firewall traversal via ICE/STUN/TURN works across the public internet
DataChannels carry arbitrary binary or text data (sensor readings, commands, etc.)
MediaStreams carry live video with hardware-accelerated encoding/decoding

System Overview

┌──────────────────────────────────────────────────────┐
│                  Operator Browser                    │
│         (MOSAIC-Server Dashboard / React)            │
└──────┬──────────────────────────────┬────────────────┘
       │  P2P (WebRTC)                │  P2P (WebRTC)
       │                              │
┌──────▼──────┐                ┌──────▼──────┐
│   Robot A   │                │   Robot B   │
│ mosaic-core │                │ mosaic-core │
└──────┬──────┘                └──────┬──────┘
       │  WebSocket (signaling)       │  WebSocket (signaling)
       └──────────────┬───────────────┘
┌─────────────────────▼────────────────────────────────┐
│                  MOSAIC-Server                       │
│         (Spring WebFlux + PostgreSQL)                │
└──────────────────────────────────────────────────────┘

The signaling server (MOSAIC-Server) only brokers the initial WebRTC handshake. Once connected, video and data flow directly between each robot and the operator over individual P2P connections.

Components

Component	Language	Role
mosaic-core	C++ / Python	WebRTC client library for robots
MOSAIC-Server	Spring WebFlux + React	Signaling server + operator dashboard
mosaic-ros2	C++	ROS2 topic ↔ MOSAIC connector packages
mosaic-isaac-sim-example	Python	Isaac Lab simulation example
mosaic-turtlebot3-wo-ros-example	C++	TurtleBot3 example without ROS

Key Features

Real-time Communication

Peer-to-peer WebRTC connections with sub-100ms latency
Automatic reconnection and connection state management

Multi-Robot Support

Control and monitor multiple heterogeneous robots simultaneously from a single dashboard

Live Video Streaming

Camera feeds via WebRTC MediaStream with adaptive quality
Multiple streams per robot

Sensor Data & Commands

Bidirectional data via WebRTC DataChannels
Send velocity commands, receive LiDAR scans, GPS, IMU, and more

Flexible Integration

Works with ROS2, Isaac Lab, or bare-metal C++/Python
YAML-based configuration — no code changes needed to add new data streams

Who Is It For?

MOSAIC is aimed at robotics researchers and engineers who want to:

Monitor and control robots operating outside the lab over the public internet
Stream live video from robots without a dedicated streaming server
Build a custom operator dashboard without implementing WebRTC from scratch
Integrate with existing ROS2 systems with minimal boilerplate

Getting Started

Ready to integrate MOSAIC with your robot? The Integration Guide walks through everything — from setting up the server to streaming data from your robot.

Contributing

MOSAIC is open source and contributions are welcome. See the Contribution page for guidelines on reporting issues, submitting pull requests, and coding style.