The broader/commercial impact of this SBIR Phase I project is the development of a breakthrough autonomous Unmanned Aerial System (UAS) designed to monitor coastal erosion with high precision over time. This innovation addresses urgent needs in vulnerable coastal communities where rising sea levels and shoreline loss threaten homes, infrastructure, and ecosystems. The system enables faster, safer, and more consistent data collection than manual or satellite methods, helping decision-makers identify erosion patterns and plan effectively. This project supports the national interest by strengthening disaster resilience, reducing public costs, and improving safety through better geographic data for planning and response. Beyond monitoring, the technology has commercial potential in infrastructure inspection, land surveying, and emergency response. By lowering operational barriers and expanding access to high-quality aerial data, this innovation enables safer, smarter, and more sustainable monitoring. It offers communities a clearer view of coastal changes, supporting evidence-based decisions for long-term protection. This project addresses the high-risk challenge of developing an autonomous flight control system capable of guiding Unmanned Aerial Systems (UAS) through unpredictable and dynamic coastal environments. The innovation lies in combining three essential components—path planning, sensor-based position estimation, and onboard flight adjustment—into a single control sys