This Project Grant from the National Science Foundation Office of Integrative Activities, under the Integrative Activities federal grant program (CFDA 47.083), provides $271,129 to support research at the New Mexico Institute of Mining and Technology to develop a new method for multi-agent control of robotic systems. The research focuses on incorporating density information to optimize transport-based multi-agent exploration and maximize efficiency for applications such as wildlife monitoring, infrastructure inspection, and planetary exploration where resources are limited. Key outcomes will include demonstrations of multi-agent control and engaging students in research. The award period is from June 1, 2022 to May 31, 2027.