  In today's chemical plants, human field operators perform frequent integrity
checks to guarantee high safety standards, and thus are possibly the first to
encounter dangerous operating conditions. To alleviate their task, we present a
system consisting of an autonomously navigating robot integrated with various
sensors and intelligent data processing. It is able to detect methane leaks and
estimate its flow rate, detect more general gas anomalies, recognize oil films,
localize sound sources and detect failure cases, map the environment in 3D, and
navigate autonomously, employing recognition and avoidance of dynamic
obstacles. We evaluate our system at a wastewater facility in full working
conditions. Our results demonstrate that the system is able to robustly
navigate the plant and provide useful information about critical operating
conditions.
