“…As a topic of distributed cooperative control, target enclosure, which achieves an enclosing formation around specific objectives by multiple agents using local information, has been discussed due to the broad range of applications. For example, surveillance using multiple sensors or sensor-enabled robots (Aguilar-Ponce, Kumar, Tecpanecatl-Xihuitl, & Bayoumi, 2007;Sarwal, Agrawal, & Chaudhary, 2007), the rescue of a wounded soldier by a group of robots and helicopters (Kamel, Beji, & Abichou, 2008), protection of UGVs (unmanned ground vehicles) by ARVs (armed robotic vehicles) (Chen, Ren, & Cao, 2010), etc.…”