Replication Data for: Distributed Trajectory Generation based on ADMM for Collaborative Workpiece Transport with Mobile Robots

MATLAB code to replicate the results of the paper titled "Distributed Trajectory Generation based on ADMM for Collaborative Workpiece Transport with Mobile Robots". Tested with MATLAB23a. Requirements: CasADi Version 3.7.2 (Installation guide: web.casadi.org/get/) Inputs: Scenario description (number of cases, beam length, number of obstacles, min/max radius of obstacles, clearance, min separation distance between obstacles, slack, start/goal/obstacle region) Outputs: Trajectories (and evaluation metrics) for two mobile robots transporting a rigid beam from the desired start to goal position for the defined scenarios.

How to run the code: Run ADMM_eval.m Project structure: admm: description of the ADMM-related scripts and optimization routines. run_one_admm.m: sets up the distributed optimization problem for one scenario to be solved with ADMM. opti_admm.m: sets up the optimization problem for one ADMM iteration on one robot. cache: saved scenarios for every type to avoid building them from scratch every time. helperfunc: auxiliary helper functions used throughout the project. libs: external libraries should be saved here (ex: CasADi). plot: scripts for visualization and plotting of results. results: final results and evaluation script used for the paper. save: scripts for saving the results. scenarios: scripts for building and running simulation scenarios. stats: scripts for statistical evaluation and analysis.