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This paper presents a disaster mitigation system that uses a small unmanned aerial vehicle (UAV). The immediate assessment of damage and the continuous collection of information when natural disasters such as large earthquakes strike are important for developing a disaster recovery plan for damage mitigation. In this study, we develop a small prototype UAV and onboard software using a GPS navigation system and propose a unique disaster mitigation system that generates digital real-time hazard maps with the aid of the UAV. The effectiveness of the proposed system is confirmed by a flight experiment.