Inspection is a fundamental task in industrial plants. Typically, there are mainly visual and measuring inspections. The first type aims just at checking the physical conditions of the facilities, while the second involves some kind of measurement or tool reading. Whatever the case, repetitiveness is a critical aspect of inspections, that could lead to errors due to lack of attention if performed by human operators. Additionally, these are time consumption and potentially hazardous tasks. In this context, the employment of mobile robots for inspection is constantly increasing in modern companies, but in many situations the human-robot cooperation is still needed, since a complete automation is not yet possible, mainly due to the unpredictable changes in the working area.