In this paper, we simulated a distributed, cooperative path planning technique for multiple drones (~200) to explore an unknown region (~10,000 connected units) in the presence of obstacles. The map of an unknown region is dynamically created based on the information obtained from sensors and other drones. The unknown area is considered a connected region made up of hexagonal unit cells. These cells are grouped to form larger cells called sub-areas. We use long range and short range communication. The short-range …