Do NOT use requireJS if you value your sanity. I've seen it used in a largish project and it was an absolute disaster ... maybe the worst technical choice made at that company. RequireJS is designed to run in-browser and to asynchronously and recursively load JS dependencies. That is a TERRIBLE idea. Browsers suck at loading lots and lots of little files over the network; every single doc on web performance will tell you this. So you'll very very quickly end up needing a solution to smash your JS files together ... at which point, what's the point of having an in-browser dependency resolution mechanism? And even though your production site will be smashed into a single JS file, with requireJS, your code must constantly assume that any dependency might or might not be loaded yet; in a complex project, this leads to thousands of async load barriers wrapping every interaction point between modules. At my last company, we had some places where the closure stack was 12+ levels deep. All that "if loaded yet" logic makes your code more complex and harder to work with. It also bloats the code increasing the number of bytes sent to the client. Plus, the client has to load the requireJS library itself, which burns another 14.4k. The size alone should tell you something about the level of feature creep in the requireJS project. For comparison, the entire underscore.js toolkit is only 4k.
What you want is a compile-time step for smashing JS together, not a heavyweight framework that will run in the browser....
You should check out https://github.com/substack/node-browserify
Browserify does exactly what you are asking for .... combines multiple NPM modules into a single JS file for distribution to the browser. The consolidated code is functionally identical to the original code, and the overhead is low (approx 4k + 140 bytes per additional file, including the "require('file')" line). If you are picky, you can cut out most of that 4k, which provides wrappers to emulate common node.js globals in the browser (eg "process.nextTick()").