In this instance, do I set them all up in bridge mode with the same SSID and password for each?
All of the AirPorts will be set up to:
1) Create a wireless network
2) Use the same SSID or wireless network name
3) Use the same wireless security setting
4) Use the same password
5) Use Automatic Channel settings
6) Operate in Bridge Mode
Depending on which version of AirPort Utility that you are using......whether it be a 5.x version or a 6.x version.....or whether you might be using an iPhone or iPad to set up the AirPorts, the setup application will take care of some of the items above automatically.
The support article that you reference is unfortunately 3+ years out of date....and it makes some assumptions that might not be correct for your current setup. For example, the article assumes that you will be connecting an AirPort router to a simple modem....and you are not.....since you will be connecting AirPorts to another router.
The support article also assumes that you are using an older operating system on your Mac computer.....Leopard (10.5.x) or Snow Leopard (10.6.x).....or a PC, and you may not be doing this.
So, while the support article provides some good basic information about a roaming network configuration......it does not really tell you "how" to set up a roaming network if you are using any of the more recent Mac operating systems or an iPad or iPhone for the setup.
if you need some assistance with your setup, we will need to know what operating system your Mac is using, or whether you are using a PC for the setup, or whether you prefer to set up the AirPorts using an iPhone or iPad.