I. Introduction
The encirclement problem is a research hot topic in multi-agent systems for task requirements. The encirclement mission requires communication and interconnection between multiple agents. We need to assign tasks to multi-agent systems based on the target of the encirclement and develop an encirclement strategy. In addition, it is necessary to implement the encirclement strategy into the motion control of multi-agent systems (such as heading control, speed control, etc.). When formulating a encirclement strategy, we need to consider the game problem between the encirclement agent and the target agent.