A modular inspection vehicle for travelling on a surface, comprising: - a chassis, wherein the chassis comprises first and second chassis sections , each of the first and second chassis sections are coupled to a respective one of a first wheel and a second wheel ; - a first motion module , the first motion module including the first wheel mounted to the first chassis section for rotation about a first axis, wherein the first wheel is a magnetic driving wheel; - a second motion module (11 b), the second motion module including the second wheel mounted to the second chassis section , the second wheel being arranged to rotate about a second axis that is nominally perpendicular to the first wheel for orthogonal rotation with respect to the rotation direction of the first wheel , and wherein the second wheel is a magnetic omni-wheel that permits the vehicle to change direction; - an inspection module (50; 53) connected to the chassis configured to collect inspection data related to the vehicle's environment; - a communication module connected to the chassis configured to transmit and receive data; - at least one power module connected to the chassis configured to provide power to the vehicle and its modules; and - a control module connected to the chassis configured to receive the inspection data and wherein the control module is configured to prepare the inspection data for transmission via the communication module, wherein the first and second chassis sections are connected via a linkage that permits a degree of freedom of movement between the first and second chassis sections and maintains the first and second wheels in contact with the surface on which the vehicle is traveling. - a chassis, wherein the chassis comprises first and second chassis sections , each of the first and second chassis sections are coupled to a respective one of a first wheel and a second wheel ; - a first motion module , the first motion module including the first wheel mounted to the first chassis section for rotation about a first axis, wherein the first wheel is a magnetic driving wheel; - a second motion module (11 b), the second motion module including the second wheel mounted to the second chassis section , the second wheel being arranged to rotate about a second axis that is nominally perpendicular to the first wheel for orthogonal rotation with respect to the rotation direction of the first wheel , and wherein the second wheel is a magnetic omni-wheel that permits the vehicle to change direction; - an inspection module (50; 53) connected to the chassis configured to collect inspection data related to the vehicle's environment; - a communication module connected to the chassis configured to transmit and receive data; - at least one power module connected to the chassis configured to provide power to the vehicle and its modules; and - a control module connected to the chassis configured to receive the inspection data and wherein the control module is configured to prepare the inspection data for transmission via the communication module, wherein the first and second chassis sections are connected via a linkage that permits a degree of freedom of movement between the first and second chassis sections and maintains the first and second wheels in contact with the surface on which the vehicle is traveling. <EOS>