OpenSpace Lab Solution to the IROS 2026 Indoor Exploration Competition

Abstract:This report presents the \textbf{OpenSpace Lab}'s solution to the Competition on Intelligent Information Gathering for Single and Multi-Robot Systems Workshops, organized as part of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026. Our team reached 1st place in the Single-Robot Public Track and 3rd place in both the Single- and Multi-Robot Private Tracks. The single-robot framework utilizes pre-trained map completion predictions for global planning to prioritize unexplored areas. To reconcile map coverage with limited operation time, we introduce a remaining-time-based exploration strategy that integrates homing constraints into the decision-making process. For multi-robot exploration, we utilize a utility-driven target selection strategy that balances observation gains, movement costs, and budget constraints, leveraging shared map and intent data to eliminate redundant search and maximize coordination efficiency. Our solution reached a 61.04\% coverage rate in the Single-Robot Public Track, while reaching 39.53\% and 39.91\% coverage in the Single- and Multi-Robot Private Tracks, respectively. An extended full-length paper based on this report is currently being prepared for submission, and the source code will be released upon acceptance of the full manuscript at this https URL.

Robotics (cs.RO)

arXiv:2610.01505 [cs.RO]

(or arXiv:2610.01505v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.01505 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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