Development of an inspection robot for small diameter gas distribution mains. - Edwin Dertien; Stefano Stramigioli; Kees Pulles (ICRA, 2011)

Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. - Edwin Dertien; Mohammad Mozaffari Foumashi; Kees Pulles; Stefano Stramigioli (ICRA, 2014)