RP26-1: AI-supported Collaborative Control and Trajectory Generation of Mobile Manipulators for Indoor Construction Tasks
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Replication Data for: Distributed Trajectory Generation based on ADMM for Collaborative Workpiece Transport with Mobile Robots
Apr 20, 2026
Hierholz, Alice; Röhm, Emil; Gienger, Andreas; Sawodny, Oliver, 2026, "Replication Data for: Distributed Trajectory Generation based on ADMM for Collaborative Workpiece Transport with Mobile Robots", https://doi.org/10.18419/DARUS-5722, DaRUS, V1
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: https://web.casadi.org/get/) Inputs: Scenario description (number of cases, beam length, number of obstacl...
Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators
Jun 16, 2025
Hierholz, Alice; Gienger, Andreas; Sawodny, Oliver, 2025, "Replication Data for: Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators", https://doi.org/10.18419/DARUS-5029, DaRUS, V1, UNF:6:4JKlZHhid5dpl97qNrg3EQ== [fileUNF]
Dataset containing 36000 trajectories generated by an Optimal Control Problem (OCP) for a mobile manipulator with 10 degrees of freedom. The OCP is solved for an initial joint state configuration and a unique randomly chosen desired tool-center-point (TCP) target pose which lies within a certain goal region. The desired TCP position is computed by...
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