is it possible to migrate applications from udeploy to xldeploy environment?

I would like to migrate applications from udeploy tool to xldeploy for deploying into lower environments, will it be possible?

Technically yes. But it will require some work to setup your package (like defining a deployit-manifest.xml) and configuring XL Deploy to connect with your infrastructure. So there's no automated conversion between udeploy and XL Deploy.