Bridges require regular inspections to eliminate potential safety hazards. Traditionally, such inspection is carried out by humans - the workers need to hang beneath the bridge, or start from an elevated platform. However, such traditional inspection methods not only create visual dead zones but also put the workers’ personal safety at risk. Alternatively, the use of UAVs allows a rapid and comprehensive examination of a bridge. Each UAV is equipped with a 4K HD camera that can capture high-resolution photos and videos of the bridge's critical structures. Such image data can be transmitted to the ground station for real-time or further analysis later on, so that the engineers can identify the problems of the bridge that need to be attended to immediately.