A robotic device configured for pipeline inspection operations, the robotic device comprising: at least one radiation source; at least one linear detector coupled to a first arm of a plurality of arms, the at least one linear detector configured to be disposed along a first side of the pipeline during the pipeline inspection operations; the plurality of arms (1920, 1921, 1922, 1923), wherein at least one arm of the plurality of arms is configured to rotate to move at least one of the at least one radiation source and the at least one linear detector; and at least one sensor configured to: detect an obstruction on the pipeline, characterized by detecting the obstruction on the pipeline includes: detecting a location of an object on the pipeline disposed on a path of the robotic device, and determining that the location of the object interferes with the path of at least a portion of one of: the at least one radiation source, the at least one linear detector, and the plurality of arms; and determine a level of rotation of the at least one arm of the plurality of arms that is sufficient to move the at least a portion of the one of: the at least one radiation source, the at least one linear detector, and the plurality of arms in order to avoid the obstruction. at least one radiation source; at least one linear detector coupled to a first arm of a plurality of arms, the at least one linear detector configured to be disposed along a first side of the pipeline during the pipeline inspection operations; the plurality of arms (1920, 1921, 1922, 1923), wherein at least one arm of the plurality of arms is configured to rotate to move at least one of the at least one radiation source and the at least one linear detector; and at least one sensor configured to: detect an obstruction on the pipeline, characterized by detecting the obstruction on the pipeline includes: detecting a location of an object on the pipeline disposed on a path of the robotic device, and determining that the location of the object interferes with the path of at least a portion of one of: the at least one radiation source, the at least one linear detector, and the plurality of arms; and determine a level of rotation of the at least one arm of the plurality of arms that is sufficient to move the at least a portion of the one of: the at least one radiation source, the at least one linear detector, and the plurality of arms in order to avoid the obstruction. detect an obstruction on the pipeline, characterized by detecting the obstruction on the pipeline includes: detecting a location of an object on the pipeline disposed on a path of the robotic device, and determining that the location of the object interferes with the path of at least a portion of one of: the at least one radiation source, the at least one linear detector, and the plurality of arms; and detecting a location of an object on the pipeline disposed on a path of the robotic device, and determining that the location of the object interferes with the path of at least a portion of one of: the at least one radiation source, the at least one linear detector, and the plurality of arms; and determine a level of rotation of the at least one arm of the plurality of arms that is sufficient to move the at least a portion of the one of: the at least one radiation source, the at least one linear detector, and the plurality of arms in order to avoid the obstruction.