HERON (https://www.heron-h2020.eu/)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. It will also support the pre- and post-intervention phase including visual inspections, dispensing and removing traffic cones in an automated and controlled manner. The HERON system consists of an autonomous ground robotic vehicle supported by self-guided drones to coordinate maintenance works, various robotic equipment and sensors, a sensing interface to allow improved monitoring of the works and Augmented Reality visualization tools to enable detection of defects under survey. Additionally, all produced data will be integrated in a decision-support visualization interface, while communication modules will be developed to allow for Vehicle-to-Infrastructure/-Everything (V2I/X) data exchange for predictive maintenance and increased user safety. The HERON project aims to reduce fatal accidents, maintenance costs and traffic disruptions, thus increasing the network capacity and efficiency. INNOV-ACTS will design the overall system architecture, define the communication architecture in order to ensure connectivity across different communication networks (e.g. cloud, IoT, wireline/WiFi/4G/5G) with different interfaces (e.g. Bluetooth, UWB, RFID, WiFi, cellular, Ethernet etc.) in an ad-hoc and infrastructure manner, as well as develop the middleware and data fusion services. Furthermore, INNOV-ACTS will be responsible for the preparation of system configurations for field trials, the deployment of the HERON system at the deployment sites, as well as the organization of pilot implementations in controlled environments (LaVallée in France and Torija in Spain) and in active motorways.