Yoon Koo Kang and Jung wan Park and Hyun Seok Yang, Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution. journal = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology. May 2013, vol. 77(5). 907 - 911 [viewed 20 September 2024]. Available from: https://publications.waset.org/pdf/9505.