Multi-Robot ExplorationIntermediate
OpenSpace Lab Solution to the IROS 2026 Indoor Exploration Competition
This preprint describes the OpenSpace Lab entry for the IROS 2026 Indoor Exploration Competition. It combines neural map-completion predictions, budget-aware goal selection, and homing constraints for single-robot exploration, with a coordinated multi-robot extension using shared maps and intent penalties. The system placed first in the single-robot public track at 61.04% coverage and third in both private tracks (39.53% single, 39.91% multi).