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With the recent advances in robotic technologies, field coverage using mobile sensors is now possible, so that a small set of sensors can be mounted on mobile robots and move to desired areas. Compared to static settings, area coverage is more complicated in a mobile sensor network due to the dynamics arising from the continuous movement of the sensors. This complication is even higher in the more realistic case where little or no prior metric information is available about the sensor field. Indoi:10.1007/s10514-019-09859-y fatcat:6eo5ydtibzfsnn4245maved7zy