The previous three Chaps. 3–5 focused on the theme of “complex fencing,” and successively proposed cooperative fencing controllers that are based on input-to-state stability, output regulation theory, and long-term task execution, respectively. Although they covered various functions such as target fencing, pattern regulation, and neighboring collision avoidance, the aforementioned methods are only applicable to a single target, which has not yet been studied with multiple varying-velocity targets.