Stefan Cordes Karsten Berns Martin Eberl Winfried Ilg Robert Suna Autonomous sewer inspection with a wheeled, multiarticulated robot. 123-135 1997 21 Robotics and Autonomous Systems 1 http://dx.doi.org/10.1016/S0921-8890(97)00011-0 db/journals/ras/ras21.html#CordesBEIS97