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Multi-robot cooperation is a critical technology for nanorobotics and nanomedicine. This paper presents a nanorobot swarming algorithm based on Bacteria Foraging Optimization with the aim of eradicating cancer cells in blood vessels. In the algorithm, each nanorobot is considered as a bacterium with specified chemotaxis and swarming behavior. A simulation environment reflecting the property of concentration, diffusion-rate and evaporation-rate of chemical substance is established in the paper. And simulations have been conducted to evaluate the effectiveness of swarming algorithm in a local field of blood vessel.

Multi-robot cooperation is a critical technology for nanorobotics and nanomedicine. Because fluid velocity varies from position to position in blood fluid and nanorobots usually move passively and randomly with fluid to save their energy, it is very challenging for multiple nanorobots to cooperate in blood fluid. Considering these characteristics, this paper presents a nanorobot control algorithm based on the mechanical properties of Non-Newtonian blood fluid. The control algorithm uses acoustic communication to coordinate nanorobots identifying cancer cells in blood vessel. In order to evaluate the effectiveness of the algorithm, comparisons with other methods by simulation were carried out. The results show that the proposed algorithm performs well both in term of the success rate and the cost time for the nanorobots to identify and reach the target. 912 978-1-4799-7098-8/15/$31.00 Index Terms -Multiple nanorobots, nanorobot coordination control, acoustic signal communication

This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of 'variable order' is introduced to specify the order of trackers' movement. A free competition model for multi-robot system is proposed to compute member robot's trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally. The effectiveness of the proposed method has been validated by simulation results.