SEAL Pack versatile, portable, and rapidly deployable SEa, air, and land vehicle

There are thirteen categories in the Robotic USAR ontology covering land, air, and sea vehicles. We present a robot system that is capable of four of those categories including aerial, terrestrial, and marine locomotion in a single package that is man-portable and low cost. Each mode of locomotion has useful capabilities that the others do not. The land vehicle can travel over 5km with a 500g load. The boat can travel 0.5 km over water or loiter for 140 minutes. The flyer can traverse any terrain for short periods of time. The system packs into a small 33 × 20 × 14 cm package weighing 1 kg. We present design issues and experimental verification.