The paper begins with a brief introduction to the problem of complete coverage path planning and the motivation for using multi-robot systems. It also describes the necessity for battery recharging in robots to avoid the need for human intervention when a robot is out of power. A list and brief description of the technologies used in the practical part of this paper are provided, and a helper script is created to facilitate the handling of numerous files required for simulation. The process of creating maps for map_server and Gazebo is described, as well as the method for drawing path markers for complete area coverage of the robot on its submap in the Gazebo program. Detailed description of the algorithm for generating submaps for each robot in the multi-robot system is provided, along with configuration files for easier execution. Three phases of the algorithm are described: concurrent BFS, finer map adjustments, and aggressive adjustments. A simulation of using our system for complete area coverage with a multi-robot system is performed - the execution process, map generation, and the simulation are shown in the Gazebo program. Measurements and results for two maps are presented. The battery recharging requirement is demonstrated on one map. The algorithm for sending a message to the robot is described and demonstrated in the Rviz program.