Mei-Ling
The preferred manner for resolving the size-bias issue (the mean size of your observed groups is a positively-biased estimates of the size of groups in the population because observers are likely to miss small groups at large distances) is via the covariate approach you describe. This approach recognises detectability is a function both of distance from the transect and group size.
You could write your own code to perform the regression method (as I did in a question to the list back in 2017). You can see the example here
https://groups.google.com/g/distance-sampling/c/2W7DJtaB82Q/m/4Ri2MLiiAAAJ
The difficult part of incorporating the result of the regression is to produce a measure of precision for mean group size; which is needed to propagate variability in estimated group size into the uncertainty in density of individuals. The code in the link above takes a simple-minded approach to the uncertainty issue.
Regarding the formula you include for
estimating density; that formula will produce an estimate of the
density of *clusters* when detections are made of groups. In
that case, the 'n' in the formula would be the number of groups.
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Mei-Ling
The "M2" approach you describe does not work, because when a covariate enters the detection function, there no longer is a single ESW. Instead there is a different ESW for each group size; in other words, ESW is a function of group size, because detectability is a function of group size.
With group size as a covariate, a Horvitz-Thompson-like estimator is employed to estimate density of individuals.
Examine slide 14 of this set of lecture materials on covariates in the detection function
https://workshops.distancesampling.org/online-course/lecturepdfs/Ch5/L5-4%20MCDS.pdf
To extend this framework to the case where group size is a covariate, examine slide 2 of
https://workshops.distancesampling.org/online-course/lecturepdfs/Ch5/L5-5%20MCDS%20Complications.pdf
You could also listen to the lectures narrating those slides at the same website.
Recognise the interdependence between ESW and PaP_a. Recognise ESW=Pa⋅wESW = P_a \cdot w, where w is truncation distance. The PaP_a formulation is used by `ds()` and it fits smoothly into the Horvitz-Thompson-like framework.