Navigation is the process of conscious movement based on motion planning. Brain representations, investigation of those representation to predict environmental reactions, choices optimization and execution of the selected actions are several main components of Biological Motion Planning (BMP). Evidence shows that interaction and learning have an influence on BMP. In this paper considering the cellular delivery process, we use the autonomous navigation among a swarm of nanomachines. Here, cancer Targeted Drug Delivery (TDD) is considered as the case study for the proposed method. The cancer place is defined where the concentration of Vascular Endothelium Growth Factor (VEGF) is high. To do this, we first form the swarm, and then using the two types of potential functions, the swarm is guided toward cancer. Two types of potential functions as two objectives include healthy cells which should be avoided and cancer cells which should be approached. By defining a multi-objective function, we consider both types of objectives in the proposed navigation. As soon as the swarm reaches the cancer site, they start their collective therapies. The result shows the remedy of the approach in less drug usage by the healthy cells and proper drug uptake by cancer cells.

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