I would like to know the currently available instruments and tools for mapping the karst terrain to map the extent of voids/ weak zones in the underground depths ranging from 10 to 30 meters
GPR (Ground Penetrating Radar) is a popular method:
https://www.vtti.vt.edu/PDFs/PE_2010/Diefenderfer%20-%20Use%20of%20Ground-Penetrating%20Radar%20for%20Subsurface%20Void%20Detection%20in%20Karst%20Terrene.pdf
If you want a detailed map and you have full access to the air spaces below. The best way to map the interior surfaces is LIDAR or TLS. If any of the larger voids are water filled and you also have access then the the best example would be using sonar similar to DEPTHX. If the substrate is water saturated and you do not have access to voids you can estimate voids using subsurface imaging from Earth Resistivity Imaging (ERI) geophysics.
I agree with the previous answers. GPR for surveys from the surface, and LiDAR for subsurface mapping.
I encourage you to read this article.
Article Searching for the void: Improving cave detection accuracy by...
Is dealing with all three: LIDAR, ERT and GPR
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