In this paper, we aim at providing a novel sweeping method for multi-security mobile robots. The sweeping problem of the multi-robots can be modeled as the stick pulling problem in which the swarm robots should sweep unknown terrains in order to remove sticks collaboratively. For the purpose, we define a certain map, what is called stick map. And we suggest how to make swarm robots build up and utilize the map in order to improve the productivity of collaborative removing sticks. Finally, the efficiency of our algorithm is verified with simulation experiments.