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As the localization and mapping of multi-robot are restricted by the immature SLAM research method and technology, a kind of adaptive method for simultaneous localization and mapping based on EKF is proposed. First of all, the selection of robot movements in SLAM is converted into a multi-objective optimal control problem based on extended kalman filter estimation method. Thus, the robot can select the control input of optimization objective function, so that the active, intelligent and adaptive way can be adopted to explore the environment. Then, the above method is generalized into the SLAM of multiple robots, in order to achieve more accurate, efficient and robust localization and mapping. The simulation results show that the method is effective. 