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Under proper charging schedules, the [Formula: see text]s could keep all the sensor nodes working perpetually. Since [Formula: see text]s can be very expensive, this paper tackles the problem of deciding the minimum number of [Formula: see text]s and their charging schedules to keep every sensor node working continuously. This problem is NP-hard; we divide it into two subproblems and propose a GCHA ( Greedily Construct, Heuristically Assign) scheme to solve them. First, the GCHA greedily addresses a Tour Construction Problem to construct a set of tours to 1-cover the WRSN. Energy of the sensor nodes in each of these tours can be timely replenished by one [Formula: see text] according to the decision condition derived from a Greedy Charging Scheme (GCS). Second, the GCHA heuristically solves a Tour Assignment Problem to assign these tours to minimum number of [Formula: see text]s. Then each of the [Formula: see text]s can apply the GCS to charge along its assigned tours. Simulation results show that, on average, the number of [Formula: see text]s obtained by the GCHA scheme is less than 1.1 over a derived lower bound and less than 0.5 over related work. <\/jats:p>","DOI":"10.1155\/2015\/782952","type":"journal-article","created":{"date-parts":[[2015,6,18]],"date-time":"2015-06-18T21:01:58Z","timestamp":1434661318000},"page":"782952","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Minimizing the Number of Mobile Chargers to Keep Large-Scale WRSNs Working Perpetually"],"prefix":"10.1177","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0942-3224","authenticated-orcid":false,"given":"Cheng","family":"Hu","sequence":"first","affiliation":[{"name":"Key Lab of Computer Network and Information Integration, MOE, School of Computer Science and Engineering, Southeast University, Nanjing 210096, 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