Yes. Resolutely is an adverb (in a firm or resolute manner).
The soldier was resolute in his promise to defend the nation against terrorism.
Pertinaciously means holding tenatiously; resolutely. She held pertinaciously to her beliefs.
I believe the word you are referring to is "intrepidly", which is the adverb form of "intrepid". It means fearlessly, daringly, or resolutely.
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