Development of an autonomous robot for gas storage spheres inspection - Okamoto Junior, Jun; Grassi Júnior, Valdir; Amaral, Paulo Faria Santos; Pinto, Benedito Geraldo Miglio; Pipa, Daniel; Pires, Gustavo Pinto; Martins, Marcus Vinicius Maciel (Journal of Intelligent and Robotic Systems, 2012)