Robust exploration via multimodal inference and adaptive ergodic sampling

The Office of Naval Research awarded Yale University $340,223.30 under the Basic and Applied Scientific Research program (CFDA 12.300) for the project "Robust Exploration via Multimodal Inference and Adaptive Ergodic Sampling," with performance occurring from September 1, 2025, through August 31, 2028. This three-year project grant supports fundamental and applied research with potential applications to naval operations and Marine Corps capabilities, consistent with the Office of Naval Research's mission to discover, develop, and deliver new technology and capability for the Navy and Marine Corps.

The research will be conducted primarily at Yale University's Connecticut facilities, with collaborative support from Rutgers University as a sub-grantee. Rutgers will provide oceanographic expertise and services including physical oceanographic background knowledge, autonomous system guidance, oceanographic datasets from global and regional ocean modeling systems for automation experiments, simulation of autonomous system behaviors on Slocum glider simulators, and support for publication and presentation of results at regional and national conferences. This collaborative effort addresses critical technology development priorities in autonomous systems and oceanographic monitoring through competitive, merit-based research evaluation conducted via peer and scientific review.