What is the general procedure for developing a swim lane process map?

Answer: The steps for developing a swim lane process map are similar to those for a more generic process map, with the exception that the symbols are aligned with different entities in the organization (or process) that are responsible at each step.
The steps are as follows:
The entity that will serve as the focal point is identified. This can be a tangible good, a customer, a customer order, or any other entity of interest.
Clear boundary, starting, and ending points are identified.
The process map is developed by thinking about the elemental process steps that are performed. There is a tendency to use too much detail, so it is often helpful to take a macro view and then develop cascading levels of greater detail for portions of the process that are problematic. These process steps can be aligned with rows (or columns) that represent the organization's entities/departments to illustrate the handoffs that occur throughout the process. It is easier if the actual map is developed in two or three steps  first the macro view, and then the boxes representing potential participants are drawn on a blank sheet of paper.
The boxes are linked using arrows that indicate the type of flow and its direction
Any boxes that do not have any arrows going in or out of them are removed from the map. New boxes may be added as needed.
After arrows are roughed out on the first copy of the map, the map may be redrawn to provide a good overview of the relationships between the various process participants.