Can you set multiple goals in adaptive mapping my guess is yes.
As many goals as you like. But you will have to figure out how your robot decides which goals to pursue, and which to ignore. For example, your robot can't drive to two locations at the same time - it can only do one goal at a time. Think of waypoints, where the robot changes goals after reaching previous goals.
When the robot reaches a goal, just erase the old start location for the current robot location, then add in the new goal location. Just two lines of code, really.