This chapter introduces our solution to the problem of connected
-coverage in heterogeneous two-dimensional wireless sensor networks, where the sensors do not necessarily have the same capabilities. Also, it discusses our solution to the same problem in mission-oriented mobile wireless sensor networks, which are deployed in two-dimensional fields that could have more than one monitoring task, i.e. mission, to be accomplished. Specifically, it focuses on how to fully
-cover a region of interest in a field using a minimum number of mobile sensors while minimizing the total energy consumption, which is due to the mobility of the sensors as well as their communication in order to successfully accomplish their specific mission.