@article{article, title  = {{A comparison of the performance of four acoustic modulation techniques for robot communication in pipes}},

 publisher = {{International Institute of Acoustics and Vibration (IIAV)}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/208358 }},

 year = {{2023}},

 month = {{3}},

 author = {{Li Z and Yu Y and Horoshenkov KV}},

 doi = {{10.20855/ijav.2023.28.11930}},

 volume = {{28}},

 journal = {{The International Journal of Acoustics and Vibration}},

 issue = {{1}},

 pages = {{98-116}},

 note = {{Accessed on 2025/11/19}}}