how to configure move_base to run with less memory

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Hi,

i am simulating serveral robots simultaneously, i want to do that with around 5-10 robots. But every instance of move_base need at least 1Gb of RAM ,some times they need up to 1.8GB (per instance of move_base).

Why does move_base need so much memory ? Can i reduce the amount of memory if i use a smaller map, or are there any other ways to work with move_base more memory efficently.

regards peter

edit: answer: if you reduce the map size, the memory size is reduced nerly by the smae percentage, map size reduzed by 75% reduces memory by 80% for me.