multiple points movement towards single point

i am doing coding on drone swarm. i don't have to do programming on actual drones. i can consider points as a drone. i need to make a matlab programming in which at least five drones inercepct the single or multiple intruder drones. meaning five drones detects the invader drone and move towards it for intercepting.

for that we can consider that five points a,b,c,d,e detects point f and moves closer to it to intercept it in 3 dimensional space.

i shall be thankful to you if you help me with the programmig for single point to single point detection and moving towards it. and then finally multipoint to single point.