In this seminar, we will present recent work on multi-agent formation control for target tracking. The target is the harmful algal blooms that occur worldwide including in the Norwegian and Baltic seas. This target is an irregular dynamic shape, which may be smaller and close to a moving circle or larger and interpreted as a moving front. Using a multi-agent system paired with a satellite, we wish to constantly collect and cross local and global information to estimate the position of the target along time. We develop different protocols to approach this problem. For the case of smaller circular targets, we developed two algorithms with formation control and circumnavigation: one using adaptive estimation and one using optimization. The case of larger targets in currently under study. The control protocols are designed for all agents and the convergence to the desired state is proven. We will provide simulated examples to verify the performance of the control protocols designed.