Here is a swarm of flying robots that can be used to explore unknown robots. They deal with obstacles on the fly without relying on a map. Researchers at the MAVLab developed a swarm bug algorithm for navigation. Under this approach, multiple robots fly off in different directions and deal with obstacles. They return to a radio beacon at the ground station when their batteries reach 60%.
These robots can sense and avoid each other too. They carry a camera to capture images of the environment.