This book addresses the problem of real-time adaptive sampling using a coordinated fleet of Autonomous Underwater Vehicles (AUVs). The system setup consists of one leader AUV and one or more follower AUV(s), all equipped with conductivity, temperature and depth (CTD) sensor devices and capable of running an on-line unsupervised learning of Gaussian Mixture Models (GMMs) algorithm. The proposed multi-hypothesis adaptive algorithm continuously updates the number of components and estimates the GMM parameters in real-time, without any initial batch of data. The path to be traced by the leader is...