Before revision:  We demonstrate an asset inspection mission within a confined space and employ millimeter-wave sensing to enhance situational awareness to detect the presence of obscured personnel to mitigate risk. Our results demonstrate a symbiotic system provides an enhanced resilience capability to BVLOS missions. A symbiotic system addresses the operational challenges and reprioritization of autonomous mission objectives. This advances the technology required to achieve fully trustworthy autonomous systems .
After revision:  We also increase situational awareness with foresight sensing, based on robust, opaque environment compliant sensing to monitor unforeseen ambient risks .