  The improved astrometry precision of Gaia-eDR3 allows us to perform a
detailed study of the Upper Scorpius OB association and revisit its spatial,
kinematic, and age substructure. We achieve this by combining clustering
techniques and complementing with age estimations based on Gaia photometry. Our
census retrieves 3661 candidate members for Upper Scorpius with contamination
$\sim$9\%. We also extract an astrometrically clean sample of 3004 sources with
contamination $\sim$6\%. We show that Upper Scorpius can be divided into at
least 3 main kinematic groups. We systematically investigate and characterize
the Upper Scorpius' internal structure, revealing that at least $\sim 34\%$ of
its stellar populations are contained in 7 spatial substructures, with well
defined boundaries, kinematics and relative ages, with suggested names: $\pi$
Scorpii (20 $^{\pm2}_{\pm1}$ Myr), $\alpha$ Scorpii (14$^{\pm2}_{\pm1}$ Myr),
$\delta$ Scorpii (9$^{\pm2}_{\pm1}$ Myr), $\beta$ Scorpii (8$^{\pm1}_{\pm1}$
Myr), $\omega$ Scorpii (8$^{\pm1}_{\pm1}$ Myr), $\nu$ Scorpii
(7$^{\pm1}_{\pm1}$ Myr), after their brightest member, and the well known
$\rho$ Ophiuchi (4$^{\pm1}_{\pm1}$ Myr). We find a clear correlation in (1)
density-age, providing an empirical expansion law to be tested in other
associations, and (2) tangential velocity-age, providing constrains on the
dynamics of these substructures and the position of potential past triggering
events. We estimate the time at which 4 potential supernovae events occurred in
Upper Scorpius. Based on these findings, we tie together previous work on the
region and suggest a star formation history with unprecedented temporal
resolution.
