In this chapter the case of heterogeneous mobile sensor networks has been considered. The mobility of the sensors is introduced in order to allow a reduced number of sensors to measure the same field, under the assumption that the temporal resolution of the measures, i.e. the maximum time between two consecutive measures at the same coordinates, is not too small. In addition, each mobile platform representing the nodes of the net has been considered equipped with different sets of sensors, so introducing a non homogeneity in the sensor network. A general formulation of the field coverage problem as been introduced in.