@misc{misc, title  = {{An Application of a Beamforming Technique, Linear Acoustic Array and Robot for Pipe Condition Localization}},

 url = {{https://doi.org/10.2139/ssrn.4820934 }},

 year = {{2024}},

 month = {{1}},

 author = {{Yu Y and Shi P and Krynkin A and Horoshenkov KV}},

 doi = {{10.2139/ssrn.4820934}},

 note = {{Accessed on 2025/12/01}}}