Abstract: Systems and methods for reinforcing a pipe. A robot is adapted for rotating in a pipe to apply resin and/or fiber to an inner surface of a pipe in a generally helical pattern. Application of resin and/or fiber to the pipe may be actively adjusted to achieve desired application. A rate at which the robot moves along the pipe per revolution of the robot can be may be adjustable. A rate at which fiber is advanced toward the inner surface of the pipe may be adjustable for application of the fiber to the inner surface of the pipe in a generally non-tensioned state.