Only requires 2 controllers.
Start a game of Infiltration, I selected the third of the five maps. Turn off the time limit and set the Phase Beam as the default weapon.
Move player 1 and player 2 to an open area in the middle of the map. Have player 2 stand in one spot for a while (I recommend two minutes) then move into player 1's goal. Move player 2 to the area where the first Mimic is waiting, wait there for one minute, then move to the goal. Repeat the process once more, only waiting 30 seconds before heading towards the goal.
If done correctly, you should be able to bring player 2 over near their three Mimics and zap all four at once with player 1 using the Phase Beam. Repeat twice more for the achievement.