The main objective of this PhD project is to develop novel ocean observation techniques with coordinated autonomous ocean and air vehicles. This interdisciplinary project is focused on on-board data assimilation using statistical models and on adaptive sampling. The project will be conducted at the LSTS – Underwater Systems and Technology Laboratory of the University of Porto. It is strongly aligned with ongoing national and EU-funded projects on ocean observation with multi-domain robotic vehicles. Topics of expertise in the LSTS include planning and execution control, integration of modelling and adaptive sampling, and algorithms for finding, tracking, and sampling dynamic features of the ocean. Applications include studies of river plumes, coastal fronts and internal waves.