Richard Molyneux and  Christopher Parrott and  Kirill Horoshenkov,  An Application of Path Planning Algorithms for Autonomous Inspection of Buried Pipes with Swarm Robots.   journal   = {International Journal of Mechanical and Materials Engineering}, [online]. World Academy of Science, Engineering and Technology.
    August 2019, vol. 153(9). 555 - 563
    [viewed 19 November 2019]. Available from: https://publications.waset.org/pdf/10010712.