Abstract
We consider configuration of multiple mobile sensors to explore and refine knowledge in an unknown field. After some initial discovery, it is desired to collect data from the regions that are far away from the current sensor trajectories in order to favor the exploration purposes, while simultaneously, exploring the vicinity of known interesting phenomena to refine the measurements. Since the collected data only provide us with local information, there is no optimal solution to be sought for the next trajectory of sensors. Using Gaussian process regression, we provide a simple framework that accounts for both the conflicting data refinement and exploration goals, and to make reasonable decisions for the trajectories of mobile sensors.