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This paper deals with wireless charging in sensor networks and explores efficient policies to perform simultaneous multi-node power transfer through a mobile charger (MC).The proposed solution, called On-demand Multi-node Charging (OMC), features an original threshold-based tour launching (TTL) strategy, using request grouping, and a path planning algorithm based on minimizing the number of stopping points in the charging tour. Contrary to existing solutions, which focus on shortening the charging delays, OMC groups incoming charging requests and optimizes the charging tour and the mobile charger energy consumption. Although slightly increasing the waiting time before nodes are charged, this allows taking advantage of multiple simultaneous charges and also reduces node failures. At the tour planning level, a new modeling approach is used. It leverages simultaneous energy transfer to multiple …