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W.D. was experimenting with Determination and how it could be used to travel between parallel universes. Supposedly his hope was to find a universe where the monsters continued to live on the surface, so they could simply take everyone there.
While conducting his experiments he met Sans and Papyrus, who are actually not brothers, but different versions of W.D. Gaster from different universes he visited. They eventually discovered the "anamoly" (Frisk/Chara destroying W.D.'s universe at the end of the genocide route). There also seems to be another character named Suzy (possibly a human) that ties into these experiments as well, but we don't know enough about her yet to know how.
Anyway, the experiment W.D. Gaster fell into was this device that allowed transdimensional travel. It's also the machine hidden in Sans's workshop. Gaster was scattered across space and time when the machine was broken and he was inside it. Sans and Papyrus were simultaneously trapped in W.D.'s universe when this happened.
Papyrus and Sans created the idea that they were brothers in order to hide the existence of parallel universes from people that would abuse that knowledge, and also to keep the monsters from becoming hysteric due to the anamoly that would eventually destroy their universe.
The evidence for this is obviously Sans's Workshop. It's also hinted multiple times through Sans's dialogue that he isn't from this game's universe. "Beware the man who came from the other world" probably refers to Sans and is a warning of the "bad time".