In this paper, a hybrid control system is incorporated into a single agent structure. Two important features of our model include that the behaviors of terrain mapping are a set of hybrid primitives inside each agent, and the coordination strategies are implemented hierarchically in multiagent level. Thus, the key contribution of our work is that the model handles the high level requests as well as low level requests consistently in multi-robot terrain mapping. Moreover, it greatly facilitates mathematical analysis. Therefore, the analysis of stability is formulated for the terrain mapping controls, which guarantees the implemented systems stable within certain boundaries. The simulation of our system is implemented using Deterministic Finite Automaton in order to be consistent with the hybrid dynamics. The implemented system verifies the feasibility and efficiency of our model.