This project presents an integrated methodology for supporting the post-earthquake damage survey in monumental buildings, with a particular focus on churches. These structures are particularly significant due to the role they play in society, while at the same time they present additional challenges compared to ordinary buildings in terms of preservation requirements. Certain distinctive features, such as large vaulted spaces and wide spans, make them more vulnerable to seismic action, also raising further implications for the safety of surveyors. 

The main goal is to obtain reliable information on building geometry and damage while minimizing operator exposure to hazardous events, through the coordinated use of ground robots and aerial drones.

The methodology is structured as an adaptive workflow consisting of two main phases. In the first phase, ground robots, either tracked or quadruped, selected according to the amount and type of debris or obstacles, are deployed to explore the interior of the building. During this stage, laser data are collected to generate a three-dimensional point cloud that captures the overall geometry, supporting the planning of targeted follow-up surveys.

The second phase addresses elements that are difficult or unsafe to access, such as vaults, arches, and upper portions of the masonry church. Here, drones are employed and selected based on spatial constraints and lighting conditions: compact drones are used for close-range surveys in confined spaces, while more advanced platforms equipped with laser sensors and obstacle-avoidance systems are deployed in larger environments.

All acquired data are then integrated into a single three-dimensional digital model that combines high geometric accuracy with detailed visual information. An artificial intelligence algorithm, developed within Product 3.2, is applied to the imagery to automatically detect cracks, which are subsequently mapped directly onto the surfaces of the 3D model. 

The resulting system provides an advanced tool to support structural analysis, damage assessment, and intervention planning, demonstrating how robotics and AI can enhance safety, reduce risk, and improve the efficiency of post-earthquake surveys. This methodology was tested on two churches, one located in Aggio and the other in Montoggio (Genova).

A short demonstration video is provided below.