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Towards autonomous motion of the PIRATE through closed pipe structures The Sensing System

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Figure

Figure 2.4: Flow chart, of the framework by Beer et. al., to determine robot autonomy [18].
Figure 2.11:
Figure 3.1: Visualisation of the gapDetection() process in the 2D algorithm.
Figure 4.3:The ‘LS02 Lidar’ practicalconfiguration for 3D detection tests.
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