  Voronoi coverage control is a particular problem of importance in the area of
multi-robot systems, which considers a network of multiple autonomous robots,
tasked with optimally covering a large area. This is a common task for fleets
of fixed-wing Unmanned Aerial Vehicles (UAVs), which are described in this work
by a unicycle model with constant forward-speed constraints. We develop
event-based control/communication algorithms to relax the resource requirements
on wireless communication and control actuators, an important feature for
battery-driven or otherwise energy-constrained systems. To overcome the
drawback that the event-triggered algorithm requires continuous measurement of
system states, we propose a self-triggered algorithm to estimate the next
triggering time. Hardware experiments illustrate the theoretical results.
