AAM-SEALS

Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAM) in SEa, Air, and Land Simulator (SEALS), a comprehensive and photorealistic simulator designed for AAMs to operate and learn in these diverse environments. The development of AAM-SEALS tackles several significant challenges, including the creation of integrated controllers for flying, swimming, and manipulation, and the high-fidelity simulation of aerial dynamics and hydrodynamics leveraging particle physics. Our comprehensive evaluation demonstrates that our AAM operates smoothly in the SEALS, reflecting photorealistic transitions across air, water, and air-water interfaces. We quantitatively demonstrate the benefits of particle-based hydrodynamics by comparing position-tracking errors across different dynamic systems. AAM-SEALS promises to benefit a broad range of robotics communities, including robot learning, aerial robotics, underwater robotics, mobile manipulation, and robotic simulators. We will open-source our code and data to foster the advancement of research in these fields.

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Aerial-Aquatic Manipulators offer efficient solutions across many fields by combining flight and underwater capabilities. In aquaculture, they perform aerial surveys and underwater inspections, ensuring optimal conditions while quickly addressing issues in hard-to-reach areas. In marine biology, they enable non-invasive sampling and data collection, minimizing disturbance to ecosystems. For inland aquaculture, AAMs provide capabilities for monitoring and maintenance, especially, in isolated water bodies where frequent access to various water areas is challenging. Their ability to seamlessly transition between air and water also enhances infrastructure inspection, reducing downtime and improving safety by avoiding the risks associated with underwater environments. Additionally, AAMs are highly effective for aquatic litter/hazmat removal and undersea search and rescue missions, where their dual capabilities allow them to swiftly locate and assist in hazardous situations, ensuring both environmental health and mission success.

AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator

Robot and Simulator Features

Potential and Broader Applications