# A Beacon Based Solution for Autonomous UUVs GNSS-Denied Stealthy Navigation

arXiv: https://arxiv.org/abs/2601.15802 · HTML: https://mlsanity.com/paper/2601.15802/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 20 references that are in the map.
- First posted on arXiv 22 Jan 2026.

## Builds on (most cited first, 1 of 1)

- [HDDL 2.1: Towards Defining a Formalism and a Semantics for Temporal HTN Planning](https://mlsanity.com/paper/2306.07353/) (2023)

## Abstract (arXiv)

Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Systems (GNSS). Such operations are critical when surface access is not possible and stealthy navigation is required in restricted environments such as protected zones or dangerous areas under access ban. GNSS denied navigation is then essential to maintaining concealment as surfacing could expose UUVs to detection. To ensure a precise fleet positioning a constellation of beacons deployed by aerial or surface drones establish a synthetic landmark network that will guide the fleet of UUVs along an optimized path from the continental shelf to the goal on the shore. These beacons either submerged or floating emit acoustic signals for UUV localisation and navigation. A hierarchical planner generates an adaptive route for the drones executing primitive actions while continuously monitoring and replanning as needed to maintain trajectory accuracy.