Radio Frequency (RF) signals, like WiFi, are ubiquitous in our surroundings. These signals interact with the objects as well as people, on their path from the transmitter to the receiver, and can thus carry implicit information about the area that they pass through. Sensing and extracting such information from off-the-shelf devices in our surroundings, is a problem of considerable interest. Additionally, robots are becoming an integral part of our lives. Utilizing the mobility of robots, along with the ubiquity of off-the-shelf devices, opens up new possibilities for RF sensing with robots. In this dissertation, we show how we can use readily available off-the-shelf devices to deduce information about our surroundings, and discuss various possibilities for utilizing the mobility of robots for RF sensing.