AbstractAt a time of zero tolerance (zero accidents, zero operating restrictions, zero ice on our roads, etc.), it is increasingly necessary to control risks and to improve the knowledge of road operators with regard to the condition of structures in order to organize preventive and predictive maintenance that minimizes risks at an acceptable cost. Instrumentation, particularly in the context of preventive monitoring, is a valuable tool, as are risk analysis approaches. It allows, in this case, to better understand the behavior of structures, to know their condition, and thus to provide reliable input data for a robust risk analysis. HERON project aims to develop an integrated automated system to perform maintenance and upgrading roadworks, such as sealing cracks, patching potholes, asphalt rejuvenation, autonomous replacement of CUD elements, and painting markings, but also supporting the pre/post-intervention phase including visual inspections and dispensing and removing traffic cones in an automated and controlled manner. To achieve this, HERON aims at providing (among others) extended situation awareness, granting the users with real-time information stream during road maintenance and inspection operations, and supporting the reduction of fatal accidents, maintenance costs, and traffic disruptions, thus increasing the network capacity and efficiency.