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Remote underwater vehicles like this one requested by D.A.R.P.A may play such a role beneath the ice https://www.militaryaerospace.com/computers/article/16722046/future-unmanned-underwater-vehicles-with-machine-autonomy-for-deepsea-missions-are-focus-of-darpa-angler-program certainly, the...

Possibly another option to consider is the use of the future remote underwater vehicles,these take years to develop of course but would be cheaper https://www.forbes.com/sites/hisutton/2020/03/05/royal-navy-to-get-first-large-autonomous-submarine/?sh=3f99baf81f0b certainly, a bespoken craft...