The research aims to develop a new robotics technology for the in-service inspection of floor plates of the majority of the world’s petrochemical storage. This will decrease the cost of inspection by more than 80% and eliminate tank outage completely if the floor is found to contain no corrosion. This technology will be based on the deployment of ultrasound non-destructive testing (NDT) sensor nodes with very simple robotic devices. These nodes will enable the configuration of distributed sensor networks to perform NDT of tank floors much more cheaply than existing techniques. The aim is to develop devices that are cheap enough to be expendable to perform in-service NDT in many applications where robot recovery is difficult or even impossible and safe enough where intrinsic safety requirements have to be satisfied. The technology should be applicable in a straightforward way to other storage tanks in the process industries and pressure vessels and, with further development after duration of the project, to pipeline inspection.