In [3] we present a control scheme for achieving multi-robot encirclement in a distributed way, i.e., with each robot using only local information gathered by on-board relative-position sensors. In particular, these are assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and moving targets support the theoretical analysis. To localize both the target and the other robots, a decentralized mutual localization module runs on each robot. This module, whose design is based on our previous work [2], overcomes the limitations of our sensors. See the mutual localization page for more details.