Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space

Water distribution and drainage pipe inspection and maintenance is costly, and could be improved by using robots to locate faults from within the pipes. Robot localization is critical in this operation, but is challenging due to the constraints of the pipe environment. An efficient, robust algorithm is needed for localization using limited sensors. A novel particle filter algorithm is proposed for...