Indonesia, Malaysia and Philippines have agreed to run coordinated patrols to boost maritime security following the kidnappings at sea of Indonesians by suspected Abu Sayyaf militants.

Foreign ministers and military chiefs of the three countries held talks Thursday in Indonesia's ancient city of Yogyakarta, hashing out the details of join patrols to protect shipping in the waters between their border areas.

Indonesian foreign minister Retno Marsudi said the threat from robbery, kidnapping and other transnational crime, if not addressed appropriately, can undermine the confidence in trade and commerce in the region.

Abu Sayyaf militants on Sunday freed 10 of 14 Indonesian crewmen who were seized at sea in March in the first of three attacks on tugboats that have sparked a regional maritime security alarm.