@article{article, title = {{Robot localization in water pipes using acoustic signals and pose graph optimization}}, publisher = {{MDPI AG}}, url = {{http://eprints.whiterose.ac.uk/166325/ }}, year = {{2020}}, month = {{9}}, author = {{Worley R and Ma K and Sailor G and Schirru MM and Dwyer-Joyce R and Boxall J and Dodd T and Collins R and Anderson S}}, doi = {{10.3390/s20195584}}, volume = {{20}}, journal = {{Sensors}}, issue = {{19}}, note = {{Accessed on 2025/05/17}}}