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Environmental sensing systems are useful in the area of disaster management where the system can provide alerts as well as remediation services in the event of a disaster such as pollutant spills. Recent advances in robotics technology have led to the development of sensors with the ability to sense, move, and the authors show how such sensors can be deployed to perform tasks such as locating and covering a hazardous concentration contour in a pollutant spill. As mobile sensors consume energy for movement and have limited available energy, it is important for the sensors to plan their movement such that the coverage is maximized and the error in coverage (i.e., area not relevant to the contour) is minimized.
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