Finding an unknown goal in an environment by a group of agents

Our purpose in this paper is to investigate one of the important swarming behaviors, finding an unknown goal by using a special roadmap. In this behavior, there are some agents in the environment, looking for a goal and if one agent finds it, that agent has to acknowledge the other agents so that they gather near the goal´s location in order to do some tasks. By using a fast single-query roadmap, environment navigation in order to find the goal´s location can be done faster and also communications between agents can be done in an organized and easy way.