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Recent research has shown that using a mobile element to help enhance energy efficiency is popular. A mobile element can move in a sensed area to provide connectivity and collect sensed data. However, the mobile element can only travel over a portion of a sensor network under temporal constraints. To have better energy saving of WSNs, the authors plan rendezvous points for a mobile element to travel by mapping sensors in a plane to a point on a Halin graph. Using the Halin graph helps solve rendezvous planning in polynomial time. The simulation results show the merits of the proposed method.