Bridges are crucial components of infrastructure networks that facilitate national connectivity and development. According to the National Bridge Inventory (NBI) and the Federal Highway Administration (FHWA), the cost to repair U.S. bridges was recently estimated at approximately USD 164 billion. Traditionally, bridge inspections are performed manually, which poses several challenges in terms of safety, efficiency, and accessibility. To address these issues, this research study introduces a method using Unmanned Aerial Systems (UASs) to help automate the inspection process. This methodology employs UASs to capture visual images of a concrete bridge deck, which are then analyzed using advanced machine learning techniques of Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs) to detect damage and delamination. A case study on the Beyer Road Concrete Bridge in Michigan is used to demonstrate the developed methodology. The findings demonstrate that the ViT model outperforms the CNN in detecting bridge deck damage, with an accuracy of 97%, compared to 92% for the CNN. Additionally, the ViT model showed a precision of 96% and a recall of 97%, while the CNN model achieved a precision of 93% and a recall of 61%. This technology not only enhances the maintenance of bridges but also significantly reduces the risks associated with traditional inspection methods.