Objective: The drone cage provides a safe setting for testing of the algorithms of this research using autonomous vehicles (aerial vehicles and ground vehicles) that are equipped with on-board wireless data acquisition, USB simulator dongles, advanced sensors, and local positioning systems. Candidate scenarios involving several stationary and mobile targets (ground robots or aerial vehicles) are considered and rigid-body multiagent system (RMAS) relative motion are studied considering real-world situations such as measurement noise. User-defined inequality constraint bounds will be used to determine the configuration and velocity deviations of the vehicle from an equality constraint around the target.