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![PDF] Control and Guidance of a Pipe Inspection Crawler (PIC) | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/0f00c05f230e749e75b2efe8d6d72672a003f6fe/2-Figure1-1.png "PDF] Control and Guidance of a Pipe Inspection Crawler (PIC) | Semantic Scholar")
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