  We present a closed-loop control strategy for a delta-wing unmanned aerial
aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air
transition. Our control system consists of a hybrid state estimator and a
closed-loop feedback policy which is capable of trajectory following through
the water, air and transition domains. To test our estimator and control
approach in hardware, we instrument the vehicle with a minimalistic set of
commercial off-the-shelf sensors. Finally, we demonstrate a successful
autonomous water-to-air transition with our prototype UAAV system and discuss
the implications of these results with regards to robustness.
