Being in the consulting business, I travel every week, and often have to leave on Sundays to get to my client by Monday AM (I'm in CA; most of our clients are far east of the Mississippi). However, when I have to be on site on Monday, I arrange to get one of the last flights out on Thursday evening so that I get some semblance of a weekend. When I'm truly lucky, I have a client who is fine with my flying in on Mondays and leaving Fridays, so that I get to see my family during the full "normal" weekend.
As per usual in the consulting world, one is expected to bill 40+ hours per week. I put in the extra time with my client so that I do those 40+ hours in four days (usually 3.5, given transcon flight schedules). Rarely have I had a client insist I be on site 5 work days per week as they understand that I'm flying upwards of 2000 miles to get to them.
There are occassions, like right now, where I have clients on both coasts, meaning I have to jet out on Sundays and head home Friday eve. This is not generally a long term situation, however. I'm lucky to work for a company that at least somewhat recognizes that good consultants, being hard to find, should be well taken care of and not "worn out" to the point of uselessness (or departure to a competitor).
Is it feasible for your staff to do, as has been suggested, more of a 4x10 arrangement? Or, do your clients need/expect people to be on site Monday-Friday?
I don't think that one can expect extra compensation for the Sunday travel (given the current U.S. economic climate and the general disregard for work/life balance endemic to U.S. business culture). However, I think that it is certainly possible to negotiate more of a win-win travel schedule, if employees are willing to put in the extra time at the client site in exchange for a bit more time at home.