Abstract: A deep-sea mining apparatus for retrieving deep-sea nodules is provided. The deep-sea mining apparatus includes a buoyancy system, a payload hopper, an underwater autonomous vehicle (UAV), and a collector system. The collector system includes a controller system and a perception system communicatively coupled to the controller system and configured to track the deep-sea mining system as the deep-sea mining system hovers over ore nodules laying on a seabed. The collector system further includes one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up the ore nodules from the seabed.