An Efficient Algorithm Of Path Planning For An Internal Gas Pipe Inspection Robot. - Yoshifumi Kawaguchi; Yun-Hui Liu 001; Takashi Tsubouchi; Suguru Arimoto (IROS, 1992)

Internal Pipe Inspection Robot. - Yoshifumi Kawaguchi; Itsuo Yoshida; H. Kurumatani; Takashi Kikuta; Y. Yamada (ICRA, 1995)

Development of Internal Gas Pipe Inspection Robot. - Yoshifumi Kawaguchi; Itsuo Yoshida; Keizo Iwao; Takashi Kikuta (J. Robotics Mechatronics, 1995)

A straight pipe observation from the inside by laser spot array and a TV camera. - Takashi Tsubouchi; Shigekazu Takaki; Yoshifumi Kawaguchi; Shin'ichi Yuta (IROS, 2000)