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. The surveillance and inspection tasks in large exterior critical infrastructures have arisen as critical processes. More complex challenges are now present, and the traditional approaches are sometimes obsolete for facing these new menaces. An alternative system¿a mobile sensor, spherical shaped¿that provides a flexible, versatile, and reliable way to perform measurements is proposed. Even more, thanks to its original traction method (based on center of gravity destabilization), the system has a result as an all-terrain vehicle that guarantees a safe and friendly interaction with the environment. It has been widely tested, verifying as well the accurate acquisition performance, resulting in this system as a suitable sensing and monitoring alternative.This work has been supported by the Robotics and Cybernetics Research Group at Universidad Politécnica de Madrid (Spain), and funded under the projects “ROTOS: MultiRobot system for outdoor infrastructures protection,” sponsored by Spain Ministry of Education and Science (DPI2010-17998), and the project ROBOCITY 2030 project, sponsored by the Community of Madrid (S-0505/DPI/000235/ROBOCITY2030).Peer Reviewe

Sensorized robotic sphere for large exterior critical infrastructures supervision