Supplemental Dataset for "Benchmarking Centralized and Decentralized Multi-Robot Collaborative SLAM in Real-World Construction Applications"

This supplemental dataset supports the study “Benchmarking Centralized and Decentralized Multi-Robot Collaborative SLAM in Real-World Construction Applications.” It contains the experimental data used to benchmark the centralized and decentralized CSLAM architectures in real-world construction environments. The dataset covers scalability across three trajectory lengths and robustness under five network conditions. Experiments were conducted using three construction-site layouts with three repeated trials. The released data include pose graphs, point clouds, communication logs, ground-truth trajectories, and reference site models.