  This work addresses the coordination problem of multiple robots with the goal
of finding specific hazardous targets in an unknown area and dealing with them
cooperatively. The desired behaviour for the robotic system entails multiple
requirements, which may also be conflicting. The paper presents the problem as
a constrained bi-objective optimization problem in which mobile robots must
perform two specific tasks of exploration and at same time cooperation and
coordination for disarming the hazardous targets. These objectives are opposed
goals, in which one may be favored, but only at the expense of the other.
Therefore, a good trade-off must be found. For this purpose, a nature-inspired
approach and an analytical mathematical model to solve this problem considering
a single equivalent weighted objective function are presented. The results of
proposed coordination model, simulated in a two dimensional terrain, are showed
in order to assess the behaviour of the proposed solution to tackle this
problem. We have analyzed the performance of the approach and the influence of
the weights of the objective function under different conditions: static and
dynamic. In this latter situation, the robots may fail under the stringent
limited budget of energy or for hazardous events. The paper concludes with a
critical discussion of the experimental results.
