Environmental monitoring has become a typical application of wireless sensor networks. The concept of monitoring certain points in the sensor field instead of the whole field area helps in reducing the costs of the deployment and improving the performance in terms of coverage. However, the problems of environment exploration, multiple target coverage and connectivity preservation are still solved separately and there are no works that combine the aforementioned problems into a single deployment scheme. In this work, we present a novel approach for mobile sensor deployment, where we combine the environment exploration with with network connectivity preservation and multiple target coverage. We examine the performance of our scheme through extensive simulation campaigns.