The objective of this lecture is to provide an overview of the accomplishments of the WAVES laboratory during CENSAM Phases I and II, including vehicle and sensor development, algorithm development, laboratory and field testing of vehicles, sensors and algorithms. A timeline of activities, sea trials, external funding, and technology transfer are included. In addition, the career paths of our postdocs andresearch staff is summarized. Collaboration with Singapore colleagues and institutions are also highlighted. Specific examples of our work to date are presented including: (1) field sensing and interpretation of phytoplankton blooms;(2) path and inspection planning for sensing complex environments, and;(3) efficiently sensing the status of a civil engineering construction site and providing a geometric and a semantic model of the site.