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paper, a control algorithm is proposed for pH sensitive nanorobots to deliver drugs in the tumor area while navigating in the blood stream environment. The nanorobots are able to communicate with their neighbors using the Particle Swarm Optimization algorithm. Furthermore, the obstacle avoidance algorithm allows the nanorobots to avoid collision with the blood cells. Each nanorobot can measure the pH value at its current position using sensors. Through cooperation, the nanorobots can drive the swarm to the tumor, which is defined by a certain pH value (less than 7.4). When the nanorobots locate the tumor cells, they release the drug which will raise the pH value of the cell until it is destroyed. The graphical interface simulations have shown the effectiveness of the proposed algorithm.

Efficient Cooperative Control System for pH Sensitive Nanorobots in Drug Delivery