[Multirobot][beginner] map monitoring

edit

Hello everyone, I'm currenty working on a multibot project. I would like to spread n robots efficiently in an area. To be clear, i'm looking for a package who subscribed to :

• number of robots
• Global map

and publish the coordinate where each robot should begin their watch as well as the area each robot should watch.

Do you know if some package are existing, or do you think i will have to do it all by myself.

I was thinking to use maybe Voronoi diagram or Poisson disk sampling but i don't know how to start...