|Description:||A multi-rotor unmanned aerial vehicle (UAV) is used for different types of applications in civil engineering. Drones tools that increase communication between construction participants, improve site safety, use topographic measurements of large areas, with using principles of aerial photogrammetry is possible to create buildings aerial surveying, bridges, roads, highways, save project time and costs, etc. The use of UAVs in the civil engineering can bring many benefits; creating real-time aerial images from the building objects, overviews revealing assets and challenges, as well as the broad lay of the land, operators can share the imaging with personnel on-site, in headquarters, and with sub-contractors, planners can meet virtually to discuss project timing, equipment needs and challenges presented by the terrain. Thus, the content of the thesis will be the design of a vision-based multi-robot UAV system to detect fractures and dangerous infrastructure problems in abandoned buildings. The project performs tests both in simulation and real robot experiments during our pre-defined camps.