"Riku Funada,Maria Santos,Ryuichi Maniwa,Junya Yamauchi,Masayuki FUJITA,MITSUJI SAMPEI,Magnus Egerstedt","Distributed Coverage Hole Prevention for Visual Environmental Monitoring With Quadcopters Via Nonsmooth Control Barrier Functions",,"IEEE Transactions on Robotics",,"Vol. 40",,"pp. 1546 - 1565",2023,Dec.