Discovery and monitoring of an environment using a plurality of robots

A method for navigating in an environment, comprising:

• obtaining a discretization of said environment to a plurality of discrete regions;
• determining, using at least one processing device, a next unvisited discrete region in said environment for a first one of a plurality of robots to explore in said environment using one or more of a breadth-first search and a depth-first search;
• determining, using said at least one processing device, if at least a second one of said plurality of robots encounters a conflict with a path in said environment of said first robot to said next unvisited discrete region in said environment by processing one or more trees generated by said one or more of said breadth-first search and said depth-first search of said second one of said plurality of robots;
• and
• in response to said conflict detected by processing said one or more trees, generating, using said at least one processing device, one or more of at least one new breadth-first search tree and at least one new depth-first search tree for said second one of said plurality of robots,
• wherein at least one of said first robot and said second robot navigates within said environment using one or more of said at least one new breadth-first search tree and said at least one new depth-first search tree.