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This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their movements to build a Gaussian process (GP) model of a spatio-temporal field. The model is then utilized to predict the spatio-temporal phenomenon at different points of interest. To spatially and temporally navigate the group of robots so that they can optimally acquire maximal information gains while their connectivity is preserved, we propose a novel multi-step prediction informative path planning optimization strategy employing our newly defined local cost functions. By using the dual decomposition method, it is feasible and practical to effectively solve the optimization problem in a distributed manner. The proposed method was validated through synthetic experiments utilizing real-world data sets. 

Due to the insufficient transient amount of energy supplied from ambient energy sources and constrained amount of energy storage in super-capacitors, energy harvesting (EH) nodes are limited with operations and vulnerable to frequent faults due to energy scarcity. Consequently, such faults will reduce reliability and energy utility due to data collisions, lost data, or idle listening. To address these challenges, this work implements a novelty task scheduling scheme to minimize energy waste and maximize throughput under these scenarios and constraints. To demonstrate the effectiveness, we use a green test bed using LoRa nodes for evaluation.