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In this paper we present an overview of the methods and systems that giverise to a flying robotic system capable of autonomous inspection, surveying,comprehensive multi-modal mapping and inventory tracking of construction siteswith high degree of systematicity. The robotic system can operate assumingeither no prior knowledge of the environment or by integrating a prior model ofit. In the first case, autonomous exploration is provided which returns a highfidelity $3\textrm{D}$ map associated with color and thermal visioninformation. In the second case, the prior model of the structure can be usedto provide optimized and repetitive coverage paths. The robot delivers itsmapping result autonomously, while simultaneously being able to detect andlocalize objects of interest thus supporting inventory tracking tasks. Thesystem has been field verified in a collection of environments and has beentested inside a construction project related to public housing.

Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations