Published Research

My research contributions to robotics and autonomous systems.

Andrew Bernas, John McConnell, John Seargeant, and Levi DeVries

Autonomous recovery of Unmanned Aerial Vehicles (UAVs) in maritime environments is challenged by dynamic ship motion, texture-poor surroundings, and vulnerabilities inherent to Global Navigation Satellite Systems (GNSS). To enable robust UAV state estimation relative to a naval vessel in GNSS-denied environments, this paper present... Read More

Andrew Bernas, Nolan Jess, Levi DeVries, John McConnell, and Donald H. Costello.

Precise relative pose estimation between Unmanned Aerial Vehicles (UAVs) and naval vessels is critical for autonomous operations, particularly in GPS-degraded environments where jamming or spoofing risks catastrophic failure. Addressing the limitations of current vision-based methods that often rely on physical... Read More

Published Research

Feature 3D Gaussian Splatting for UAV-to-Ship Pose Estimation in GNSS-Denied Environments

Relative Pose Estimation of an Unmanned Aerial System to a Naval Vessel Using Gaussian Splatting