This paper addresses the data collection problem using the minimum number of unmanned aerial vehicles (UAVs) in a disaster management scenario where mobile sensors are investigating the devastated area. Critical information needs to be quickly gathered for processing by the rescue team, so the use of UAVs in this situation is of great interest. We propose an optimal model for computing the trajectories of the UAVs while guaranteeing the total coverage of the ground mobile sensors and connectivity among the UAVs with a central base station dedicated to data processing. Our model is based on a decomposition model and is solved effectively using column generation. We show that we can provide a plan for deploying the UAVs minimizing the total traveled distance.