These are not pavement drainage systems. It looks like the plan view of a drop inlet or similar. Not enough information to tell you anything other than the grating design is different.
I think they are manhole covers. The HK reminded me that I might have seen something like these in Hong Kong, but I can't be sure. If that thought is right, one may be a sanitary sewer and the other a storm sewer.
DaMeRy,
The link I referenced above identifies them.
jgailla and dicksewerrat,
Depends on the size of the cover. If large enough so it won't go down the hole in the frame, no problem. Just a geometry issue, and the Hong Kong covers seem to have considered the safety issue, I think.
Square cover have a tendency to fall into the pipe while trying to remove or replace. Diagonal measurement of the opening is much larger than the length of one side. Round covers outside diameter is usually 1 inch larger than inside diameter of the manhole ring. Won't fit without a major fight. Also if the square cover bounces, it may fall through.