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

<p> 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. </p>

<p> <b>Requirements:</b> CasADi Version 3.7.2 (Installation guide: <a href="https://web.casadi.org/get/">https://web.casadi.org/get/</a>) </p>

<p> <b>Inputs:</b> 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) </p>

<p> <b>Outputs:</b> Trajectories (and evaluation metrics) for two mobile robots transporting a rigid beam from the desired start to goal position for the defined scenarios. </p>

<p> <b>How to run the code:</b> Run ADMM_eval.m </p>

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