In this paper we describe a heterogeneous multirobot
system for assisting scientists in environmental monitoring
tasks, such as the inspection of marine ecosystems. This team
of robots is comprised of a fixed-wing aerial vehicle, an
autonomous airboat, and an agile legged underwater robot.
These robots interact with off-site scientists and operate in a
hierarchical structure to autonomously collect visual footage
of interesting underwater regions, from multiple scales and
mediums. We discuss organizational and scheduling complexities
associated with multi-robot experiments in a field robotics
setting. We also present results from our field trials, where
we demonstrated the use of this heterogeneous robot team to
achieve multi-domain monitoring of coral reefs, based on realtime
interaction with a remotely-located marine biologist.