After spending some time with Aardvark, i found the tool really great to get answers pretty fast. Aardvark provides many ways to interact with the service however there are no APIs available as such to interact with the service programmatically. Meanwhile I was trying to make my hands dirty with Google GTalk service and developed a small and silly utility to interact with Aardvark service through GTalk in Java.
The library is very basic and helps the developer to connect to Aardvark and fire some command and see the response from Aardvark. jVark source is available at http://code.google.com/p/jvark
However the library requires significant amount of improvement for extensive use.