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Wireless energy transfer based on magnetic resonant coupling is a promising technology to replenish energy to sensor nodes in a wireless sensor network (WSN). However, charging sensor node one at a time poses a serious scalability problem. Recent advances in magnetic resonant coupling shows that multiple nodes can be charged at the same time. In this paper, we exploit this multi-node wireless energy transfer technology to address energy issue in a WSN. We consider a wireless charging vehicle (WCV) periodically traveling inside a WSN and charging sensor nodes wirelessly. We propose a cellular structure that partitions the two-dimensional plane into adjacent hexagonal cells. The WCV visits these cells and charge sensor nodes from the center of a cell. We pursue a formal optimization framework by jointly optimizing traveling path, flow routing and charging time. By employing discretization and a novel Reformulation-Linearization Technique (RLT), we develop a provably near-optimal solution for any desired level of accuracy.