Author

Eleni Kelasidi

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Preprint Aug 2026

Unified Planning-Learning Framework for Robust UUV Navigation Under Partial Observability

This paper presents an observation-only autonomy framework for Unmanned Underwater Vehicles (UUVs) navigation in dynamic underwater environments that integrates persistent occupancy mapping, global clearance-aware planning, and risk-aware local control. The proposed pipeline constructs occupancy maps solely from onboar...

M. E. Deowan, Eleni Kelasidi · 0 citations