While some commercial transceivers are available for capsule millirobots, no one has yet tackled the challenge of wireless communication between nanorobots inside the human body, which could be crucial for the control, and coordination of nanorobots. The Multi-agent system relies on information exchange by physical interactions or chemical secretions to perform complex tasks. Our previous work proposed a swarm coordination mechanism for tumor-target in an autonomous manner. To perform deterministic tasks, the method does not require prior knowledge of tumor location but the nanoparticles (NPs) swarm that follows simple migration principles. The biological gradient field (BGF) generated by tumors allows nanoswarms (NS) to cooperate and passively migrate to potential tumor sites. An autonomous computation strategy in vivo (ACS) is proposed based on particle coupling and adsorption optimization to improve NS aggregation and overall targeting efficiency in vivo. In addition, an evaluation system is established to evaluate the aggregation degree of NS and the drug leakage caused by the dissipation of NPs in complex vascular networks. By increasing the aggregation degree NS and reducing the effect of drug leakage, We are able to achieve an increase in global targeting efficiency to about 95%, which can be helpful in early-tumor detection, which can be helpful in early-tumor detection.Clinical relevance-Our investigation into autonomous swarm coordination and targeting of nanorobots in vivo represents a novel approach for early tumor detection, potentially achieving targeting efficiency of approximately 95% in complex vascular networks.