Mobile multi-robot systems may be deployed in environments initially unknown to them. Their efficient operation requires detailed maps of their surroundings. The robot system charts the environment during initial exploration. Multiple robots collaborate to speed up the exploration by distributing the exploration area. They form a mobile ad hoc network enabling coordination and the exchange of map information. The multi-robot system described herein is fully self-organizing. It does not rely on a central controller increasing scalability and robustness. Scalability allows deployments in large environments such as industry complexes or ramified cave systems. The performance of the system, determined by the time required to fully explore an environment, benefits from integration of additional explorers. By allowing a fully connected robot system to split into multiple independently operating teams, robots may cover larger areas more quickly. Two forms to establish connectivity are discussed: robots may serve as stationary relays forming a multi-hop network. Alternatively, relay robots may carry data between communication end-points freeing robots to support exploration.