Journal Papers

Yu Y, Krynkin A and Horoshenkov K.V (2024) Modal coupling analysis of the acoustic wave scattering from blockage in a pipe, Journal of Sound and Vibration, 2024, 118522, ISSN 0022-460X,

Yu Y, Krynkin A and Horoshenkov K.V (2024) The effect of 3D surface roughness on acoustic wave propagation in a cylindrical waveguide, Wave Motion, 2024, 103304, ISSN 0165-2125,

George-Williams H.E.M, Hunt D.V.L, and Rogers C.D.F (2024) Sustainable Water Infrastructure: Visions and Options for Sub-Saharan Africa, Sustainability 16, no. 4: 1592.

Yu Y, Horoshenkov K.V, Tait S (2024) Microphone array analysis of the first non-axisymmetric mode for the detection of pipe conditions. J. Acoust. Soc. Am. 1 January 2024; 155 (1): 575–587.

Liu, L.; Aitken, J.M. HFNet-SLAM: An Accurate and Real-Time Monocular SLAM System with Deep Features. Sensors 2023, 23, 2113.

Bowman BM, Abbott-Donnelly I, Barsoum J-F, Williams P, Hunt DVL and Rogers CDF (2023). The Water Pivot: Transforming unsustainable consumption to valuing water as a resource for life. Frontiers in Sustainability, Sec. Sustainable Consumption, 4, Paper 1177574. Doi: 10.3389/frsus.2023.1177574

Yu Y, Horoshenkov K.V, Worley R, Anderson S (2023) Robotic sensing for buried pipes with sound waves. J. Acoust. Soc. Am. 1 October 2023; 154 (4_supplement): A68.

Li X.S, Nguyen T.L, Cohn A.G, Dogar M and Cohen N (2023), Real-Time Robot Topological Localization and Mapping with Limited Visual Sampling in Simulated Buried Pipe Networks, Front. Robot. AI, 23 November 2023, Sec. Field Robotics, Volume 10-2023

Zhang J, Niu X, Croxford A.J, Drinkwater B.W (2023) Pipe inspection using guided acoustic wave sensors integrated with mobile robots, NDT & E International, 2023, 102929, ISSN 0963-8695,

Watts J.B, Horoshenkov K.V, Carter N and Edwards N. (2023) A Novel Acoustic Sensor for Condition Assessment and Early Leak Detection in Water Pipes, Pipelines 2023, DOI:

Zhang R, Worley R, Edwards S, Aitken J, Anderson S.R and Mihaylova L, “Visual Simultaneous Localization and Mapping for Sewer Pipe Networks Leveraging Cylindrical Regularity,” in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3406-3413, June 2023, doi: 10.1109/LRA.2023.3268013

Edwards S, Zhang R, Worley R, Mihaylova L, Aitken J, Anderson SR. A robust method for approximate visual robot localization in feature-sparse sewer pipes. Front Robot AI. 2023 Mar 6;10:1150508. doi: 10.3389/frobt.2023.1150508. PMID: 37090891; PMCID: PMC10115998,

Li Z, Yu Y and Horoshenkov K.V, (2023) A Comparison of the Performance of Four Acoustic Modulation Techniques for Robot Communication in Pipes, The International Journal of Acoustics and Vibration, Vol. 28, No. 1

Dell A, Krynkin A, Horoshenkov K. V, Sailor G (2023) Low frequency attenuation of acoustic waves in a perforated pipe, The Journal of the Acoustical Society of America 153, 1791 (2023);

Yu Y, Worley R, Anderson S, Horoshenkov K, (2023). Microphone array analysis for simultaneous condition detection, localization, and classification in a pipe. The Journal of the Acoustical Society of America, DOI:

Niu X, Zhang J, Croxford A & Drinkwater B (2022) Efficient finite element modelling of guided wave scattering from a defect in three dimensions, Nondestructive Testing and Evaluation, DOI: 10.1080/10589759.2022.2162050

Nguyen T. L, Blight A,  Pickering A, Jackson-Mills G, Barber A. R., Boyle J. H, Richardson R, Dogar M, Cohen N (2022) Autonomous control for miniaturized mobile robots in unknown pipe networks, Frontiers in Robotics and AI, Volume 9, 16 November 2022,

Makris K.F, Langeveld J.G, Clemens-Meyer F.H.L.R. , Watts J, Begum H, Horoshenkov K.V, Sonic assessment of physical ageing of plastic pipes, Journal of Sound and Vibration, Volume 544, 2023, 117393, ISSN 0022-460X,

Zaidi S. A. R, Hayajneh A. M, Hafeez M and Q. Z. Ahmed, “Unlocking Edge Intelligence Through Tiny Machine Learning (TinyML),” in IEEE Access, vol. 10, pp. 100867-100877, 2022, doi: 10.1109/ACCESS.2022.3207200.

Towlson A. R. K, Croxford A. J and Drinkwater B. W. “Ultrasonic Nondestructive Characterization of Blockages and Defects in Underground Pipes,” in IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol. 69, no. 8, pp. 2540-2554, Aug. 2022, doi: 10.1109/TUFFC.2022.3183339

Makana, L, Shepherd, W, Tait, S, Rogers, C, Metje, N, Boxall, JB, & Schellart, ANA (2022). Future inspection and deterioration prediction capabilities for buried distributed water infrastructure. Journal of Pipeline Systems Engineering and Practice. Vol. 13, No. 3, Paper 04022020, 14pp.

Bouch C.J, Shrimpton E.A, Makana L, Bowman B, and Rogers C.D.F (2022) Robotic autonomous asset management: benefit/value-based business model creation, Infrastructure Asset Management. Vol. 10, No. 2, p. 92-102.

Bowman, BM.; Hunt, DVL.; Rogers, CDF (2022) Gazing into the Crystal Ball: A Review of Futures Analysis to Promote Environmental Justice in the UK Water Industry. Sustainability 2022, 14, 4586.

Shrimpton EA, Hunt DVL and Rogers CDF (2022) A Governance Framework for Implementation of Scientific and Engineering Innovation in Buried Infrastructure Systems. Front. Sustain. Cities 4:765577. doi: 10.3389/frsc.2022.765577

Zhang, Z, Niu, X, Croxford, A, Drinkwater, B.W (2022) Strategies for guided acoustic wave inspection using mobile robots Proc. R. Soc. A.4782021076220210762

Prisutova, J, Krynkin, A, Tait, S, Horoshenkov, K (2022) Use of Fibre-Optic Sensors for Pipe Condition and Hydraulics Measurements: A Review. CivilEng 2022, 3, 85-113.

J. Aitken, M. Evans, W. Worley, S. Edwards, R. Zhang, T. Dodd, L. Mihaylova, S. Anderson (2021) Simultaneous Localisation and Mapping for Inspection Robots in Water and Sewer Pipe Networks: A Review, IEEE Access, 2021,

Yu Y, Safari A, Niu X, Drinkwater B, Horoshenkov K.V, (2021) Acoustic and ultrasonic techniques for defect detection and condition monitoring in water and sewerage pipes: A review, Applied Acoustics, Volume 183, 2021, 108282, ISSN 0003-682X,

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

B. T. Malik, V. Doychinov, S. A. R. Zaidi, I. D. Robertson and N. Somjit, “Antenna Gain Enhancement by Using Low-Infill 3D-Printed Dielectric Lens Antennas,” in IEEE Access, vol. 7, pp. 102467-102476, 2019, doi: 10.1109/ACCESS.2019.2931772.

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.

B. T. Malik, V. Doychinov, S. A. R. Zaidi, I. D. Robertson and N. Somjit, (2019) “Higher-order mode substrate integrated waveguide cavity excitation for microstrip patch antenna arrays at 30-GHz”, Journal of Physical Communications, Vol 3 015017 doi:

Conference Papers

Seyoum A.G., Tait, S., Schellart, A.N.A., Shepherd, W., Boxall, J. (2024) Optimizing mobile sensor movement and trajectory to improve water distribution network calibration, HIC 2024, Beijing, CN, 27-30 May.

Shepherd, W.J., Seyoum A.G., Schellart, A.N.A., Boxall, J.B., Tait, S.J. (2024) Autonomous inspection robotics for urban drainage networks, 16th International Conference on Urban Drainage, Delft, NL, 10-15 June.

Liu, X. and Mihaylova, L. (Accepted: 2024) Active sensing for target tracking: a Bayesian optimisation approach. In: Proceedings of the International Conference on Information Fusion. 27th International Conference on Information Fusion, 07-11 Jul 2024, Venice, Italy. . (In Press)

Orime, H.C (2023), Evaluating Performance of a Deteriorating Water Network Using Customer-Oriented Indices, Proceeding of 11th IWA International Conference EFFICIENT 2023 – WATER AND CITY on Efficient Urban Water Use., Bordeaux, France.September 13-15, 2023.

Orime, H.C (2023), Assessing Water Distribution Network Performance with Customer-oriented Performance Indices, Proceeding of 19th Computing and Control for the Water Industry Conference 2023. De Monfort University, Leicester, UK, 4th to 7th September 2023.

Seyoum, A.G., Tait, S., Boxall, J., Schellart, A., Shepherd, W., (2023) Moving Sensor Deployment for Network-wide Pipe Roughness Calibration, 11th IWA Symposium on Modelling and Integrated Assessment, Quebec City, QC, Canada, 23-27 Sep 2023,

Seyoum, A.G., Tait, S., Boxall, J., Schellart, A. (2023) Optimal Placement of Sensors for Networkwide Calibration Using Pressure Dependent Modelling, 11th IWA Symposium on Modelling and Integrated Assessment, Quebec City, QC, Canada, 23-27 Sep 2023,

Shepherd, W., Schellart, A., Boxall, J., Evans, M. H., Yu, Y. , and Tait, S. (2021). Pervasive Sensing for Buried Wastewater Collection and Drainage Networks. Proceedings of 15th International Conference on Urban Drainage, Melbourne, 25-28 October.

Boxall JB, Shepherd WJ, Tait SJ, Schellart ANA, Metje N, Makana LO, Bouch CJ, Bowman BM, Shrimpton EA and Rogers CDF (2022). A Vision for Pervasive Autonomous Inspection of Buried Pipe Infrastructure. Proc. of No-Dig 2019, 38th International Conference on Trenchless Technologies, No-Dig 2022, Helsinki, 3-5 October.

Kazemi, E., Shepherd, W., Tait, S. (2022). Machine learning to improve understanding of sewer pipe failures. Proceedings of 10th International Conference on Sewer Processes and Networks, Graz, Austria, 23-26 August.

Rugg-Gunn, D., Aitken, J.M. (2022). Investigating Scene Visibility Estimation Within ORB-SLAM3. In: Pacheco-Gutierrez, S., Cryer, A., Caliskanelli, I., Tugal, H., Skilton, R. (eds) Towards Autonomous Robotic Systems. TAROS 2022. Lecture Notes in Computer Science, vol 13546. Springer, Cham.

Evans, M. H., Aitken, J. M., & Anderson, S. R. (2021, December). Assessing the feasibility of monocular visual simultaneous localization and mapping for live sewer pipes: A field robotics study. In 2021 20th International Conference on Advanced Robotics (ICAR) Ljubljana, Slovenia, 2021, (pp. 1073-1078). IEEE. doi: 10.1109/ICAR53236.2021.9659486

Towlson A, Yu Y, Sailor G, Horoshenkov K,  Croxford A and Drinkwater B (2021) Acoustic and Ultrasonic Characterisation of Blockages and Defects in Underground Pipes, 2021 IEEE Sensors, 2021, pp. 1-4, doi: 10.1109/SENSORS47087.2021.9639823.

Doychinov, V et al., “A Study of Wireless Communications Systems for Robotic Communications in Underground Pipes and Ducts,” 2021 18th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2021, pp. 209-213, doi: 10.1109/ECTI-CON51831.2021.9454819.

Zhang, R., Evans, M. H., Worley, R., Anderson, S. R., & Mihaylova, L. (2021, September). Improving SLAM in pipe networks by leveraging cylindrical regularity. In Towards Autonomous Robotic Systems 22nd Annual Conference (TAROS), Lincoln, UK (pp. 56-65). Springer

Haggart, R and Aitken,J.A. (2021) Online Scene Visibility Estimation as a Complement to SLAM in UAVs, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. (pp. 365-369).

Edwards, S, Mihaylova, L, Aitken, J. M. Anderson, S. (2021) Toward robust visual odometry using prior 2D map information and multiple hypothesis particle filteringmap information and multiple hypothesis particle filtering, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. (pp. 188-192).

R. Worley and S. Anderson, “Robot Localization in a Pipe Network using a Particle Filter with Error Detection and Recovery in a Hybrid Metric-Topological Space,” 2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2021, pp. 1-8, doi: 10.1109/MFI52462.2021.9591168.

Worley, R., & Anderson, S. (2021, August). Robust efficient localization of robots in pipe networks using a particle filter for hybrid metric-topological space. In 2021 European Conference on Mobile Robots (ECMR), Bonn, Germany, 2021 (pp. 1-8). IEEE.

Worley, R., & Anderson, S. (2020, December). Topological robot localization in a large-scale water pipe network. In Towards Autonomous Robotic Systems 21st Annual Conference (TAROS), Nottingham, UK, September 16, 2020, Proceedings (Vol. 12228, pp. 77-89). Springer DOI:10.1007/978-3-030-63486-5_11

Worley, R., Yu, Y., & Anderson, S. (2020, September). Acoustic echo-localization for pipe inspection robots. In 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Karlsruhe, Germany, 2020 (pp. 160-165). IEEE. DOI: 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


Rogers CDF (2023). Dealing with the Complexity of the Underworld.

Worley R, Yu Y, Horoshenkov K and Anderson S (2023): Acoustic Echo Sensing for Robot Localization in Buried Pipe Networks. TechRxiv. Preprint. DOI:

Pipebots Academic Team (2019) Position Paper: Intelligent Buried Pipe Infrastructure: Present and Future

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

Other Media

Mounce S.R, Shepherd W.J, Boxall j.B, Horoshenkov K.V, Boyle J.H (2021), Autonomous robotics for water and sewer networks, HydroLink 2021-2 Artificial Intelligence

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 Media Coverage

CGTN Razor Series

BBC Breakfast 26th December 2022

BBC News 26th December 2022

Pipebots – coming soon to a sewer near you

PhD Thesis

Shrimpton EA. Governance and Infrastructure in the Water Sector: Towards Successful and Just Interventions PhD Thesis, University of Birmingham.


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