The problem of planning the motion is investigated for distributed multiple mobile agents. A method is proposed for a few heterogeneous mobile agents (robots) of different sizes and moving capabilities to coordinate their motions in a distributed manner in order to achieve a map-making task. The agents are assumed to have sufficient memory for storing the map and to be able to communicate with each other. Our approach makes use of an occupancy grid and a map is to be completed to a specified resolution. The algorithm is described, and computer simulation of the algorithm is reported.