|Description:||A system for precise capture of objects on the water by a group of UAVs-USVs will be designed, being motivated by marine applications and environment monitoring scenarios. The multi-rotor UAV relies on onboard sensors only (no external localization will be expected) and aims to operate in an open sea environment (no available map). Two main scientific objectives will be tackled: 1) Object detection and optimal coverage area by a heterogeneous team of UAVs-USVs. A new approach to UAV-USV cooperation on exploration will be combined with safe motion planning taking into account a multi-vehicle sensor fusion to detect multiple targets on water and avoid the spreading of these objects. The UAVs will use a barometer for height estimation on water and GPS for horizontal estimation coupled with a lidar sensor for obstacle avoidance. A down-faced camera with a small gimble will be used for object detection on water. Object detection and optimal coverage area by a heterogeneous group of UAV-USV is not a simple task and it will be the first contribution. 2) The capture of objects, either by the UAV or by the USV in a cooperative fashion, will be the main contribution. The capture of objects on land can be achieved so far with the estimation of the mass of the object by the lifting procedure. However, the same task performed on the water is not straightforward. The capture of objects on water requires new approaches of motion planning, environment sensing, and robot-object interaction to achieve all three skills together that are necessary for 1) estimating the floating direction of the object, 2) estimating the mass of the object, and 3) deciding whether the object will be carried by the UAV, dragged by the UAV or the USV will approach the object to collect it.