The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a stigmergy approach based
on ants behavior, and a novel swarm-based protocol to recruit and coordinate robots for disarming the mines cooperatively. Simulation tests are presented to show the effectiveness of our proposed ant-based task robot coordination with only the exploration task and with both exploration and recruit-
ing strategies. Multiple minimization objectives have been considered: the robots’ recruiting time and the overall area exploration time. We discuss, through simulation, different cases under different network and field conditions, performed by the robots. The results have shown that the proposed
decentralized approaches enable the swarm of robots to perform cooperative tasks intelligently without any central control.

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