The implementation of these types of agents is fairly straightforward. The leaders in the environment have a map of the environment saved as one of their attributes. An untrained leader and followers will start out with an empty map as their attribute. Untrained leaders and followers will start exploring an environment by themselves and create a map of walkable and unwalkable locations. Leaders and untrained leaders (once they have the knowledge), will share information with other agents depending on their proximity. They will share information about which points on the grid are blocked, the local sub-graphs and the dangers in the area.