Aplam and Pancho generates a 'sense of place' while exploring their world. Their memory is represented as a topological graph with every node containing information about a location and events associated in that location - they remember people they met, things they saw, messages they heard. Currently they use this information to navigate the space more efficiently. Agents can also query each other about places to inorder to find their way through the world as well. The following image shows the evolution of their spatial memory with time.

The following is the actual world Aplam and Pancho expores. The memory map that they develop for the world after a considerable amount of exploration is shown below it. Each node can be expanded further into the events associated with them.