@article{LYLI12TRO,
  author    = {Xin Li and
               Wuyi Yu and
               Xiao Lin and
               S. S. Iyengar},
  title     = {On Optimizing Autonomous Pipeline Inspection},
  journal   = {IEEE Transactions on Robotics},
  volume    = {28},
  number    = {1},
  year      = {2012},
  pages     = {223-233},
}