TABLE 2.

Robot single-task success rate in autonomous pipe exploration.

Event	Action	No. Of runs	Success rate (%)
Left branch	robot slightly steers away from the left branch and keeps going straight	13	85
Left corner	robot turns left 900 while maintaining its center near the center of the bend, and low pitch and roll angles	11	100
T-junction	robot turns 900 to the right branch while maintaining its center near the center of the junction	20	90
Right corner	robot turns right 900 while maintaining its center near the center of the bend, and low pitch and roll angles	13	92
Right branch	robot moves forwards a certain distance, turns right an angle of 450, then, reassesses its state, and turns to right branch	19	79
Dead-end	robot turns around by 1800 and adjusts its position to the center of pipe while maintaining its pitch and roll angles low to avoid flip risk	9	100
Large obstacle	robot detects a complete blockage in front and turns around by 1800, then explores next pipe sections	8	100
Small obstacle	robot steers away from obstacle to go in the gap between that obstacle and the other pipe wall	8	88