In this paper we consider the task of inner objects mapping for the building with a bunch of moving around it autonomous agents which use narrow beam of radio waves using WiFi frequency (2.4 GHz). Linear model of pixel-wise radio waves attenuation is considered. SIRT algorithm with TV and Tikhonov regularizations is used for the task of tomography reconstruction. Properties of the presented model are studied during simulation using synthetic data consisting of 8 buildings with inner object with different shapes. Mapping quality depends on transmission power is found. Simulation results confirm suggested approach usability.