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Non-destructive monitoring methods and continuous monitoring systems based on them are crucial elements of modern systems for the management and maintenance of assets which include reinforced concrete structures. The purpose of our study was to summarise the data on the most common sensors and systems for the non-destructive monitoring of reinforced concrete structures developed over the past 20 years. We considered systems based on electrochemical (potentiometry, methods related to polarisation) and physical (electromagnetic and ultrasonic waves, piezoelectric effect, thermography) examination methods. Special focus is devoted to the existing sensors and the results obtained using these sensors, as well as the advantages and disadvantages of their setups or other equipment used. The review considers earlier approaches and available commercial products, as well as relatively new sensors which are currently being tested.