@article{articlec06ccf4e,
title   = {Development of an autonomous robot for gas storage spheres inspection},
author = {Okamoto Junior, Jun and Grassi Júnior, Valdir and Amaral, Paulo Faria Santos and Pinto, Benedito Geraldo Miglio and Pipa, Daniel and Pires, Gustavo Pinto and Martins, Marcus Vinicius Maciel},
year = {2012},
doi = {10.1007/s10846-011-9607-z},
journal   = {Journal of Intelligent and Robotic Systems}
}