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The mine detection in an unexplored area is an optimization problem wheremultiple mines, randomly distributed throughout an area, need to be discoveredand disarmed in a minimum amount of time. We propose a strategy to explore anunknown area, using a stigmergy approach based on ants behavior, and a novelswarm based protocol to recruit and coordinate robots for disarming the minescooperatively. Simulation tests are presented to show the effectiveness of ourproposed Ant-based Task Robot Coordination (ATRC) with only the explorationtask and with both exploration and recruiting strategies. Multiple minimizationobjectives have been considered: the robots' recruiting time and the overallarea exploration time. We discuss, through simulation, different cases underdifferent network and field conditions, performed by the robots. The resultshave shown that the proposed decentralized approaches enable the swarm ofrobots to perform cooperative tasks intelligently without any central control.

Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks