Territorial surveillance plays a constantly increasing role in security. However, completely automatic surveillance systems using autonomous robots are hard to implement and maintain and in many cases they fail to adapt to dynamic environment changes or scale efficiently. This chapter presents a swarm intelligence system that allows indirect communication between the robots, which are considered minimally equipped. It introduces the proposed swarm intelligence system and its underlying bio-inspired algorithm. The chapter also presents results of experiments on the aforementioned system as well as comparison results with some other well-known relevant algorithms. The swarm intelligence system proposed uses a bio-inspired algorithm based on the computational system of the Ant Colony System. Basically, as a first step in the attempt to solve the problem of the area surveillance, the indirect communication of the autonomous robots is proposed, namely without the use of a central control system or direct communication between the robots.