Enhancing Autonomous Navigation in GNSS-Denied Environments: Integrating Collision Avoidance with Observability-Based Motion Planning samaneh elahian University of Tehran M. A. Amiri Atashgah University of Tehran Bahram Tarverdizadeh University of Tehran Research Article Keywords: collision avoidance, real-time autonomous motion planning, observability degree, EKF-ASLAM Posted Date: May 22nd, 2024 DOI: https://doi.org/10.21203/rs.3.rs-4407556/v1 License:   This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License Additional Declarations: No competing interests reported.