  Communication is a critical part of enabling multi-agent systems to
cooperate. This means that applying formal methods to protocols governing
communication within multi-agent systems provides useful confidence in its
reliability. In this paper, we describe the formal verification of a complex
communication protocol that coordinates agents merging maps of their
environment. The protocol was used by the LFC team in the 2019 edition of the
Multi-Agent Programming Contest (MAPC). Our specification of the protocol is
written in Communicating Sequential Processes (CSP), which is a well-suited
approach to specifying agent communication protocols due to its focus on
concurrent communicating systems. We validate the specification's behaviour
using scenarios where the correct behaviour is known, and verify that
eventually all the maps have merged.
