This report investigates the problem of exploration and mapping in an embedded graph-like world. Graph-like worlds provide a useful theoretical model within which to explore fundamental limits to exploration and mapping. It is demonstrated that a collection of identical robots, each equipped with its own unique marker can explore and map an unknown graph-like environment. Developing such an algorithm addresses fundamental issues related to multiple-robot exploration, i.e., location disambiguation, merging partial world representations obtained by multiple robots, partitioning the exploration task, and rendezvous scheduling.

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