The experimental snapshots and the tracking errors evolution of real-lake experiments with circular formation, where blue circles denote USVs, yellow circles denote UAVs, and red circle denotes trajectory. (a) Initial scene with USVs at their starting positions. (b) UAVs performing real-time tracking and monitoring of the motion of USVs. (c) The tracking errors of three USVs under MUMU-EBSBL. (d) The tracking errors comparison among MUMU-EBSBL, MUMU-BSBL, MUMU-VSBL, and MUMU-LASSO at $t=\mathrm{10,20,30}$ s.