How to partition map for multi-robot coverage

edit

Hello All, I have generated a map using gmapping slam and saved it, to be use later on, in autonomous navigation. Now i spawned 3 kobuki at different locations on the map. All I want is to divide that map into 3 regions using voronoi partitioning scheme, and each robot will navigate into its own region. I need help, my ros distribution is melodic, simulator I am using is Gazebo and Robot platform is Kobuki. Thanks,