André Magalhães, Guilherme Raffo, and Luciano Pimenta. 2023.
 Safe Voronoi-Based Coverage Control for Multi-Robot Systems with Constraints. In <em>Proceedings of the 15th Brazilian Symposium on Robotics and 20th Latin American Robotics Symposium</em>, October 09, 2023, Salvador/BA, Brasil. SBC, Porto Alegre, Brasil, 188-193.