The coverage of Points of Interest (PoI) is a classical requirement in mobile wireless sensor applications. Optimizing the sensors self-deployment over a PoI while maintaining the connectivity between the sensors and the sink is thus a fundamental issue. This article addresses the problem of autonomous deployment o f mobile sensors that need to cover a predefined PoI with a connectivity constraints and provides the solution to it using Relative Neighborhood Graphs (RNG). Our deployment scheme minimizes the number of sensors used for connectivity thus increasing the number of monitoring sensors. Analytical results, simulation results and real implementation are provided to show the efficiency of our algorithm.