Multi-robot　system　is　widely　used　in　exploring　in　large-scale　unknown　environment　and　performing　the　complex　tasks.　This　paper　presents　map　building　for　multi-robot　system　using　RTM　as　communication　platform.　We　use　the　Player　Project　works　as　simulation　platform　to　realize　topological　map　for　multi-robotic　system　and　use　SP2ATM　algorithm　for　path　planning.　The　paper　presents　the　architecture　of　the　proposed　method　and　gives　some　experiments　to　verify　the　effectiveness.