1. A method for planning paths of a set of sensors in an environment, wherein the sensors are mobile sensors with changeable positions and orientations, and each sensor includes a processor, an imaging system and a communication system, comprising the steps of: defining a desired resolution of coverage of the environment; initializing an achieved resolution of the coverage, and further comprising for each time instant in each processor of each sensor the steps of: acquiring an image of the environment using the imaging system; updating the achieved resolution according to the image; and moving to a next position and orientation based on the achieved resolution and the desired resolution; and distributing local information of the sensor to other sensors in the set of sensors using the communication system to optimize a coverage of the environment.