The primary goal of this book is to enhance programing of nanorobotic agents. Precisely, we focus on agent communication mechanisms which would yield coherently coordinated swarm behavior. The metaphor we envision involves driving bee-like nanorobotic agents towards a specific target in a world like environment. Our motivation stems from the notion that successful communication of agents location, local density, agent velocity and agents distance from the target may inspire development of medically plausible algorithms that can achieve related emergent phenomenon. Precisely we propose a bee...