@ARTICLE{Taylor2024,
  author={Taylor, Annalisa T. and Berrueta, Thomas A. and Pinosky, Allison and Murphey, Todd D.},
  journal={IEEE Robotics and Automation Letters}, 
  title={Safe Coverage for Heterogeneous Systems With Limited Connectivity}, 
  year={2024},
  volume={9},
  number={10},
  pages={8866--8873},
  doi={10.1109/LRA.2024.3455804}}