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A common practice is the removal of pipe sections for condition assessment, causing service interruption and resulting in the assessment of a small percentage of the network as well as high replacement costs. Systematic condition assessment of pipes could help to prevent network problems as well as in proposing an efficient investment plan. This can be performed by using robotic inspection devices. Toward this end, this paper reviews existing robotic tools and analyzes open problems to be addressed for a successful robotic inspection device. \u00a9 2010 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20347","type":"journal-article","created":{"date-parts":[[2010,6,12]],"date-time":"2010-06-12T09:07:22Z","timestamp":1276333642000},"page":"491-508","source":"Crossref","is-referenced-by-count":116,"title":["Robotic devices for water main in\u2010pipe inspection: A survey"],"prefix":"10.1002","volume":"27","author":[{"given":"Josep M.","family":"Mirats Tur","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"William","family":"Garthwaite","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2010,6,11]]},"reference":[{"key":"e_1_2_9_2_1","unstructured":"Andrews M.E. &Eng P.(1998 September).Large diameter sewer condition assessment using combined sonar and CCTV equipment. 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