Singapore is at a strategic location along major shipping routes and therefore has one of the busiest harbors in the world. Having a safe and secure harbor environment is vital to maintain trade and growth in the country and region. To help build and maintain a safe harbor environment, the Center for Environmental Sensing and Modeling (CENSAM) under the Singapore-MIT Alliance for Research and Technology (SMART) is developing a mobile sensor network in the Singapore coastal zone. On top of that, CENSAM requires multi-resolution environmental models that assimilate remote sensing data from satellite and airborne platforms with ground observations from diverse sensor networks and mobile robotic sensor platforms. Water and Air Vehicles for Environmental Sensing or in short WAVES Lab is part of CENSAM which facilitates CENSAM with such platforms. Our key research interest is to develop platforms and sensors that enable us to acquire atmospheric data autonomously and adaptively. Our main research thrust is to develop robotic sensor networks, control algorithms, novel propulsion, and navigation and sensing tools to safely and efficiently monitor and survey the Singapore coast.