In general the other robots in the field are not that big of a problem. There are four walls and only three other robots, which means that the robot should be able to see at least one wall. Robots in Open have a small cross section at 15 cm so that means that they should not corrupt the measurement much and the longest straight line that they can have is 22 cm which can easily be removed from “wall status”.
It may seem that other robots blocking lidar are a problem, but that is actually a good thing, because we can then locate and track them. In the early stages we wanted to use this kind of blocking (and that was the reason why the lidar was much lower in the first generation) to then create special strategies, robots could communicate a shared Kalman filter that in its state has positions of robots on our and the opposing team. Sadly we found out that many robots in Open have a smaller cross section the higher you go (because of the omnidirectional mirror) and could not do that at the end.
The scan with other robot provided in the poster (the scan on the right) was with a robot from LWL and even there you can see that the walls are easily seen. And as I shared in my previous answer the out of bounds rate is really low and is not because of other robots.