1. A method of planning sensor movement, comprising: dividing an area of interest into a grid of grid cells, each grid cell having a target probability and each sensor having a starting point corresponding to one of the grid cells; and pruning possible sensor movements by iterating a beginning branch and bound function for a predetermined number of steps in a look ahead depth, wherein each iteration of the beginning branch and bound function up to the look ahead depth has a corresponding search distance, the search distance for each sensor in each iteration is measured from the starting point of the sensor, thereby ignoring feasibility of moves from iteration to iteration.