Introduction Offshore drilling rigs are among the most complex and capital-intensive assets in the oil and gas industry. A significant portion of their critical infrastructure is located below the water surface, where human access is difficult, expensive, and often associated with substantial safety risks. Consequently, routine inspection of submerged structures has long been one of the major operational challenges for offshore operators. Recent advances in Unmanned Underwater Vehicles (UUVs) have transformed the way underwater inspections are performed. These robotic systems