Multi-robotic　system　is　widely　used　in　exploring　in　large-scale　unknown　environment　and　performing　the　complex　tasks.　This　paper　presents　exploration　mode　and　goal　oriented　mode　of　path　planning　for　multi-robotic　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　SP　2ATM　algorithm　for　path　planning.　In　order　to　improve　the　effectiveness　of　the　path　planning,　ICP　algorithm　is　used　for　robot＇s　localization.　This　paper　presents　the　architecture　of　the　proposed　method　and　gives　some　experiments　to　verify　the　effectiveness.　©　2012　SICE.