  Automated and autonomous industrial inspection is a longstanding research
field, driven by the necessity to enhance safety and efficiency within
industrial settings. In addressing this need, we introduce an autonomously
navigating robotic system designed for comprehensive plant inspection. This
innovative system comprises a robotic platform equipped with a diverse array of
sensors integrated to facilitate the detection of various process and
infrastructure parameters. These sensors encompass optical (LiDAR, Stereo,
UV/IR/RGB cameras), olfactory (electronic nose), and acoustic (microphone
array) capabilities, enabling the identification of factors such as methane
leaks, flow rates, and infrastructural anomalies. The proposed system underwent
individual evaluation at a wastewater treatment site within a chemical plant,
providing a practical and challenging environment for testing. The evaluation
process encompassed key aspects such as object detection, 3D localization, and
path planning. Furthermore, specific evaluations were conducted for optical
methane leak detection and localization, as well as acoustic assessments
focusing on pump equipment and gas leak localization.
