A system for taking inventory over a wide area includes a database. The database stores a geofenced area divided into two or more waypoints and a route defined as path within the geofenced area across at least two waypoints. At least one mobile asset is disposed at a position in a yard corresponding to the at least one waypoint. The mobile asset has a readable tag having information about the asset thereon. An aerial vehicle having a tag reader flies along the route within the geofenced area for communicating with each tag along a route, reading the information and storing the information read from each tag.