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A maze of pipes, conduits for water, sewage, and gas can be found beneath the streets. Regular monitoring of these pipes for leakage or maintenance usually necessitates their excavation.

City ofUnited kingdomNetta cohenThanh luan nguyenLeeds school of computingUniversity of leedsAutonomous inspection robot systemsSewer pipeImage creditStudy final authorStudy first authorPostdoctoral scientistLeeds school