Launched in 2371 under the command of Captain Kathryn Janeway, the vessel was lost while on a mission into the Badlands to capture the Maquis vessel Val Jean.
The vessel was officially declared lost in 2374.
On stardate 51462 Voyager managed to contact Starfleet via a Hirogen communications network.
Very little of Star Trek: Voyager will ever be referenced in Star Trek: The Lionhearted, due to the fact I don't care for it for a variety of reasons. But its canon, so it is included.