  We present a transportable system for ocean observations in which a small
autonomous surface vehicle (ASV) adaptively collects spatially diverse samples
with aid from a team of inexpensive, passive floating sensors known as
drifters. Drifters can provide an increase in spatial coverage at little cost
as they are propelled about the survey area by the ambient flow field instead
of with actuators. Our iterative planning approach demonstrates how we can use
the ASV to strategically deploy drifters into points of the flow field for high
expected information gain, while also adaptively sampling the space. In this
paper, we examine the performance of this heterogeneous sensing system in
simulated flow field experiments.
