@article{article, title  = {{Robot localization in water pipes using acoustic signals and pose graph optimization}},

 publisher = {{MDPI AG}},

 url = {{https://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 2024/12/28}}}