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This paper highlights the important points of swarm intelligence, more specifically the ant algorithm, and illustrate how it can be applied to a real time mine detection problem. The algorithm would be applied using GroundScouts, a modular micro robot that was designed for cooperative robotics applications. An adaptive time division multiple access (ATDMA) communication schemes are also presented that changes the behavior of the network according to the number of robots on the network. This maximizes the efficiency of the communication between the robots. The results show that the real time implementation of the algorithm is successful.