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Bridges are exposed to different types of damages within their lifetime. Bridge maintenance is an essential procedure that can significantly improve lifetime and serviceability of bridges. First step in bridge maintenance is inspection. Visual inspection has been traditionally the dominant method of bridge inspection. Although visual inspection is still used by several authorities to inspect bridges, it is prone to errors, due to human biased judgement. Using wireless sensor networks is a non-destructive method that can help bridge maintenance teams to monitor bridge health. Although there are many advantages associated with using wireless sensor networks in bridges, there are some downsides like battery failure and large volume of collected and transmitted data. Unmanned aerial vehicle is a new mobile robotic agent that can help wireless sensor networks to overcome some of its shortcomings. This paper explores the advantages and disadvantages of using wireless sensor networks in bridge health monitoring systems. Also the advantages of using unmanned aerial vehicles in bridge health monitoring systems are discussed. This paper would investigate the synergy between coupling unmanned aerial vehicles and wireless sensor networks in bridge health monitoring in order to overcome traditional limitations of bridge health inspection.