A major problem for the preservation of the oceans is pollution due to oil and gas leaks. The spread of pollution can nowadays be measured with satellites, but it is still necessary to be able to intervene on site with water vehicles. In iMarEx, different watercrafts are equipped with scientific and navigation sensors as well as control hardware and used as a platform for the development of software for autonomous detection of the spread and source of such spills. One focus is on the development of dynamic models of the watercraft and algorithms for autonomous decision making, trajectory planning and control.