We study the noncommutative massless Kalb-Ramond gauge field coupled to a dynamical $U(1)$ gauge field in the adjoint representation together with a compensating vector field. We derive the Seiberg-Witten map and obtain the corresponding mapped action to first order in $\ensuremath{\theta}$. The (emergent) gravity structure found in other situations is not present here. The off-shell dual scalar theory is derived and it does not coincide with the Seiberg-Witten mapped scalar theory. Dispersion relations are also discussed. The $p$-form generalization of the Seiberg-Witten map to order $\ensuremath{\theta}$ is also derived.
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