2 orange-yellow balls of light traveled and then stopped, pulsating and flickering in and out

I was with my daughter walking our dog at night. I initially saw 3 round lights that seemed to be surrounded by at least 2 helicopters (sound, lights recognizable). 1 disappeared behind tree cover and the other 2 stopped and stayed in the same position, high above some homes and a treed area east of me. Because they stopped moving and were unusual in shape and color, I decided to start filming them with my phone camera. At first I held my phone but I was moving too much so I propped my elbows on a mailbox and continued to film. They are circular and seem to pulsate. Towards the end of the video the thing on the right starts to flicker and blink out a little. The stationary lights below are street lights. I am standing on the uphill portion of a street and our neighborhood is on the top of a hill. After I stopped filming I went home (just around the corner, but I couldn't see them from my house) so we jumped in my car to see if we could get closer for a bette! r look. I drove on a road that took us south but I couldn't find a better view. When I turned around and went back to the place we were at before, both of them were gone. I have a video, and this was reported to another agency who investigated and found this incident to be unknown/unidentifiable.