## 2 Literature Review  
There are many papers on interceptors' guidance laws [5; 6; 7; 8]. The authors of [9; 10; 11; 12; 13; 14; 15; 16] applied motion camouflage to develop the guidance law of an interceptor. Here, we say that the interceptor is in the motion camouflage state if an interceptor moves in the presence of a target while appearing stationary at a focal point.  
References [17; 18] developed a motion camouflage guidance law so that the interceptor approaches the target while appearing stationary at a focal point that is infinitely far from the interceptor. The authors of [19] used a neural network architecture to perform motion camouflage in 2D environments. The authors of [12] developed an optimal control approach to derive a 2D motion camouflage position for an interceptor, assuming there is a constant velocity (speed and heading) target. However, assuming a target with constant velocity is not realistic since a maneuvering target could escape from the interceptor. Our paper thus handles a target with variable velocity.  
Proportional Navigation Guidance (PNG) laws have been widely applied to let an interceptor hit the target [20; 21; 22; 23]. PNG laws are designed considering an interceptor that can measure the bearing of the target by utilizing on-board sensors. PNG laws are based on the fact that two vehicles are on a collision course when their direct Line-Of-Sight (LOS) does not change direction as they get closer to each other. PNG laws are designed so that the interceptor velocity vector rotates at a rate proportional to the rotation rate of the line-of-sight and in the same direction.  
Multi-agent systems can be applied for many tasks, such as monitoring environments [24; 25], multi-agent herding [26], and sensor deployment [27; 28; 29; 30]. References [31; 32] controlled multiple mobile sensors to estimate the target position in real time. References [33; 34] considered the case where two interceptors, which measure bearings of a target, track the target in two dimensions. The formulation of the homing problem of multiple missiles against a single target, subject to constraints on the impact time, was discussed in [35]. In [36], a fully distributed adaptive method was proposed to solve the simultaneous attack problem with multiple missiles against maneuvering targets. The authors of [37] considered the relative interception angle constraints of multiple interceptors, which is intended to enhance the survivability of multiple interceptors against a defense system with a high value target and also to maximize the collateral target damage. The authors of [38] addressed simultaneous cooperative interception for a scenario where the successful handover cannot be guaranteed by a single interceptor due to the target maneuver and movement information errors at the handover moment.  
As far as we know, other guidance laws in the literature make one or more interceptors continue to chase the target. Our paper is unique in making slow interceptors (drones in our paper) stay close to the ship, so they can block a fast target from reaching the ship. This blocking strategy is desirable considering the energy consumption of an interceptor since an interceptor does not have to move far from the ship. Through MATLAB simulations, the effectiveness of this blocking strategy is verified by comparing it with other state-of-the-art guidance controls.