The multiple robot map building strategies have several advantages when compared to strategies based on a single robot, in terms of flexibility, gain of information and reduction of the map building time. In this paper, a local map integration method is proposed based on the inter-robot observations, considering a new method for the environment exploration. This exploration method is based on the Inverse Ant System-Based Surveillance System strategy (IAS-SS), a bioinspired coordination strategy, which minimizes the environment exploration time due to the pheromone repulsive nature, impelling the robots for visiting unexplored regions. The main contribution of this work is the development of a distributed mapping method using IAS-SS. Simulation results show the map integration method is efficient, through several trials performed considering a variable number of robots and environments with different structures. Results obtained from experiments confirm that the integration process is e