Abstract
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.
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