Design and Characterization of a Multi-Domain Unmanned Vehicle Operating in Aerial, Terrestrial, and Underwater Environments

In this paper, we demonstrate and validate the flight characteristics of a multi-domain unmanned platform capable of locomotion in the air, water, and land domains. The OmnibotV2 uses four flight motors in a quad-copter configuration for flight, a dual screwdrive system for land and water locomotion, and optionally features a buoyancy control unit for water operations. Experiments were performed to measure how maximum battery voltage, temperature, and motors of different torque-speed characteristics affect the performance of the platform in flight. Screwdrive locomotion similarly also evaluated on land, underwater, and on the water's surface. The transition between the water's surface and the air was validated as was the use of the flight propulsion for moving around in and under the water. A streaming camera unit as well as other sensors were integrated and validated for future applications in environmental monitoring.