In the framework of several projects devices and systems were developed, based on SiPM photosensors, suitable for radioactive waste monitoring in store and possibly during transportation. The radiological gamma and neutron data, collected in real time, represent a useful tool both for safety and security and are also suitably stored in databases. Two miniature low cost sensors for gamma and neutrons, constituting the so called MiniRadMeter device, were integrated inside a small box and installed on top of a robotic vehicle for a quick dose rate mapping in radiologically hostile environments in case of nuclear decommissioning or accident remediation. These systems were installed and tested in several real or realistic nuclear environments and the outcome was absolutely promising. The test missions and the corresponding results are described.