Journal Papers

Yu Y, Krynkin A, Li Z, Horoshenkov K.V, (2021) Analytical and empirical models for the acoustic dispersion relations in partially filled water pipes, Applied Acoustics, Volume 179, 2021, 108076, ISSN 0003-682X,

Shrimpton, E.A.; Hunt, D.; Rogers, C.D.F. (2021) Justice in (English) Water Infrastructure: A Systematic Review. Sustainability 2021, 13, 3363.

S.A.R. Zaidi, (2021) Nearest neighbour methods and their applications in design of 5G & beyond wireless networks, ICT Express, 2021, ISSN 2405-9595,

Zhu, J.; Boxall, J.B.; Hills, A.F.; Dwyer-Joyce, R.S.; Anderson, S.R.; Collins, R.P. (2021). Assessing Ground Support of Plastic Pipes Using Ultrasound. Infrastructures 2021, 6, 30.

Savvides G, Duangrit N, Chudpooti N, Akkaraekthalin P, Imberg U, Robertson I, Somjit N (2021).  3D Rapid-Prototyped 21-31-GHz Hollow SIWs for Low-Cost 5G IoT and Robotic Applications, in IEEE Access, vol. 9, pp. 11750-11760, 2021, doi: 10.1109/ACCESS.2021.3051180

Chan S.H, Horoshenkov K.V, Ali M.T.B, Tait S.J (2021). An Acoustic Sensor for Combined Sewer Overflow (CSO) Screen Condition Monitoring in a Drainage Infrastructure, Sensors, Volume 21, Issue 2, 2021

Shen C, Mihaylova L, (2021). A flexible robust Student’s t-based multimodel approach with maximum Versoria criterion, Signal Processing, Volume 182, 2021, 107941, ISSN 0165-1684,

N. Chudpooti et al., (2020) In-Situ Self-Aligned NaCl-Solution Fluidic-Integrated Microwave Sensors for Industrial and Biomedical Applications, in IEEE Access, vol. 8, pp. 188897-188907, 2020, doi: 10.1109/ACCESS.2020.3031864

Malik B. T, Doychinov V, Hayajneh A. M, Zaidi S. A. R, Robertson I.D, and Somjit N, (2020) Wireless Power Transfer System for Battery-Less Sensor Nodes,  in IEEE Access, vol. 8, pp. 95878-95887, 2020, doi: 10.1109/ACCESS.2020.2995783

Parrott C, Dodd T.J, Boxall J, Horoshenkov K, (2020).  Simulation of the behavior of biologically-inspired swarm robots for the autonomous inspection of buried pipes.  Tunnelling and Underground Space Technology, Vol. 101, 2020, 103356, ISSN 0886-7798,

Worley R, Ma K, Sailor G, Schirru M.M, Dwyer-Joyce R, Boxall J, Dodd T, Collins R, Anderson S, (2020). Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization. Sensors 2020, 20, 5584,

N. Chudpooti, N. Duangrit, P. Akkaraekthalin, I. D. Robertson and N. Somjit, (2019) “Electronics-Based Free-Space Terahertz Measurement Using Hemispherical Lens Antennas,” in IEEE Access, vol. 7, pp. 95536-95546, 2019, doi: 10.1109/ACCESS.2019.2929697

Conference Papers

Worley R and Anderson S. (2020). Topological Robot Localization in a Large-Scale Water Pipe Network. Conference, TAROS (Towards Autonomous Robotic Systems)

Worley R, Yu Y, and Anderson S. (2020). Acoustic Echo-Localization for Pipe Inspection Robots. 10.1109/MFI49285.2020.9235225.

Rogers CDF, Chapman DN and Metje N (2019). Assessing The Underworld – A Three-Infrastructure Approach To Remote Sensing. Proc. of No-Dig 2019, 37th International Conference on Trenchless Technologies, Florence, Italy, 30th September – 2nd October 2019

Rogers CDF, Hojjati A, Jefferson I and Metje N (2019). Novel Business Models in Support of Trenchless Cities. Proceedings of No-Dig 2019, 37th International Conference on Trenchless Technologies, Florence, Italy, 30th September – 2nd October 2019


Caffoor I, (2019) Robotics and Autonomous Systems (RAS) for buried pipe infrastructure and water operations

Other Media

Doychinov V, (2021) An army of sewer robots could keep our pipes clean, but they’ll need to learn to communicate, The Conversation, 26th January 2021


Pipebots Newsletter Issue 7 – May 2021

Pipebots Newsletter Issue 6 – March 2021

Pipebots Newsletter Issue 5 – December 2020

Pipebots Newsletter Issue 4 – September 2020

Pipebots Newsletter Issue 3 – June 2020

Pipebots Newsletter Issue 2 – March 2020

Pipebots Newsletter Issue 1 – Dec 2019