Brown University was awarded a $114,440 project grant from the National Science Foundation under the Computer and Information Science and Engineering program (CFDA 47.070) for the period of October 1, 2022 through September 30, 2023. The grant will support the development of methods for heterogeneous teams of monitoring robots to collaboratively map and track physical, chemical, and biological processes in marine environments through distributed sensing and data assimilation. Key products include new approaches for robots to better model and interact with dynamic ocean currents through concurrent environmental sensing, data collection and processing, and replanning using the updated models. The project aims to advance ocean monitoring technologies for applications such as tracking contaminant dispersion or locating downed aircraft.