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<http://schema.org/articleBody>
"The inspection of public infrastructure  such as viaducts and bridges  is crucial for their proper maintenance given the heavy use of many of them  Current inspection techniques are very costly and manual  requiring highly qualified personnel and involving many risks  This article presents a novel solution for the detailed inspection of viaducts using aerial robotic platforms  The system provides a highly automated visual inspection platform that does not rely on GPS and could even fly underneath the infrastructure  Unlike commercially available solutions  our system automatically references the inspection to a global coordinate system usable throughout the lifespan of the infrastructure  In addition  the system includes another aerial platform with a robotic arm to make contact inspections of detected defects  thus providing information that cannot be obtained only with images  Both aerial robotic platforms feature flexibility in the choice of camera or contact measurement sensors as the situation requires  The system was validated by performing inspection flights on real viaducts "
<https://www.mysciencework.com/publication/facets/keywords/maintenance>