Abstract: Three ideal full-coverage models are established for the different ratios of communication range to sensing range (R_c/R_s). A distributed self-deployment algorithm by distance and orientation control (DOC) for mobile sensor networks is proposed. Mobile sensor networks can achieve ideal full-coverage from self-deployment by DOC algorithm. Distance control tries to keep the distance among sensor nodes being equal to the ideal distance by virtual force, while orientation control tries to adjust the relative angle formed by sensor node and its two contiguous neighbors to achieve the ideal relative angle. Simulation results show that ideal full-coverage with k-connectivity (k≥3) can be effectively reached by DOC for all values of R_c/R_s.