Cluster target sensing and tracking refers to the formation of a cluster of multiple platforms by coordinating them to work together in order to achieve a target sensing and tracking task. In this control problem, a cluster of platforms needs to accurately sense and track one or more targets in complex environments, such as cities, wilderness, or other unknown areas, which is a challenging task for clusters. Evaluation criteria for cluster target sensing and tracking algorithms established in this paper are oriented towards the cluster target sensing and tracking method, which investigates the algorithmic performance of multiple platforms as well as dynamic targets in multiple aspects of different control methods under the same initial conditions.