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this paper demonstrates the inspiration of using communication technique between nanorobots and the movements of them in a swarm for the purpose of target area tracking and arrival inside human blood streaming environment. So, the blood elements and physical properties must be considered. The communication and movement problems of nanorobots are carried out in a self-organized way by applying modified Particle Swarm Optimization (PSO) algorithm to enable them to make decisions. The nanorobots must also be programmed to detect and avoid the blood cells which are worked as obstacles. In this paper, the modified obstacle avoidance algorithm is used to allow the nanorobots to avoid these obstacles .This research includes an analysis of the performance and behavior of nanorobots to demonstrate the great impact to attach communication algorithm with obstacle avoidance algorithm for nanorobots' movement plan. The results and analysis indicate that nanorobots will take on average less time to reach the target area and will guarantee that every nanorobot will arrive safely.

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