  We study the problem of infrastructure inspection using an Unmanned Aerial
Vehicle (UAV) in box girder bridge environments. We consider a scenario where
the UAV needs to fully inspect box girder bridges and localize along the bridge
surface when standard methods like GPS and optical flow are denied. Our method
for overcoming the difficulties of box girder bridges consist of creating local
navigation routines, a supervisor, and a planner. The local navigation routines
use two 2D Lidars for girder and column flight. For switching between local
navigation routines we implement a supervisor which dictates when the UAV is
able to switch between local navigation routines. Lastly, we implement a
planner to calculate the path along that box girder bridge that will minimize
the flight time of the UAV. With local navigation routines, a supervisor, and a
planner we construct a system that can fully and autonomously inspect box
girder bridges when standard methods are unavailable.
