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

 publisher = {{MDPI}},

 url = {{}},

 year = {{2020}},

 month = {{9}},

 author = {{Worley R and Ma K and Sailor G and Schirru MM and Dwyer-Joyce R and Boxall JB and Dodd TJ and Collins R and Anderson SR}},

 doi = {{10.3390/s20195584}},

 volume = {{20}},

 journal = {{Sensors}},

 issue = {{19}},

 note = {{Accessed on 2025/11/09}}}