Unmanned aerial vehicles (UAVs) and unmanned underwater vehicles (UUVs) have gained significant attention in recent years due to their versatility and increasing affordability. These vehicles were normally designed to excel in their respective domains UAVs for aerial operations and UUVs for underwater exploration [1]. But some applications, like mapping remote areas, inspecting offshore oil platforms, ship hulls, gas pipelines, and military operations, need a vehicle that can be effective in both aerial and underwater conditions. The traditional response to these kinds of tasks is the application of several vehicles, where each one has a separate function, which proves to be costly and inefficient when the inspection of both the submerged and the non-submerged parts of a structure simultaneously is required.