Advances in the areas of robotics have greatly increased the complexity and number of problems that groups
of robots are able to solve. This work deals with the use of homogeneous and autonomous robots dynamically
forming teams to solve a multi-threat containment problem. The multi-threat containment problem has the
robot teams surround a number of threats that may occur randomly. Approaches with and without utilizing
wireless communication are proposed and analyzed with a focus on the effects of using wireless. Simulation
results show the benefit of the proposed integrated algorithm and its performance in different scenarios.