A system for generating a map of an environment, the system including a plurality of agents that acquire mapping data captured by a mapping system including a range sensor. The mapping data is indicative of a three dimensional representation of the environment and is used to generate frames representing parts of the environment. The agents receive other frame data from other agents, which is indicative of other frames representing parts of the environment generated using other mapping data captured by a mapping system of the other agents. Each agent then generates a graph representing a map of the environment by generating nodes using the frames and other frames, each node being indicative of a respective part of the environment, and calculating edges interconnecting the nodes, the edges being indicative of spatial offsets between the nodes.