A "Bypass Capacitor" is ussually 100nF.
A "Filter Capacitor" could be "10uF".
In any case, regardless of the value, a Bypass Capcitor is ALWAYS as CLOSE AS PHYSICALLY possible to the device you are trying to protect ( in this case the Sharp sensors) so the "+'" lead of the cap goes to Vcc (the cap should be as close to the sensor as you can get it) and the "-" (negative) lead of the cap goes to ground. I don't know any simpler way to explain that so I hope you understand what I just said.
It sounds like the cap is part of a LPF
(Low Pass Filter) if they are asking you to connect a SERIES 100 ohm resistor between the "+" Input and the cap. What is it you don't understand ?
Where is the link the datasheet for the sensor ?
How do you expect us to answer your question without the DATASHEET ?
To answer your question :
You need ONE CAPACITOR FOR EVERY SENSOR . If you have FIVE SENSORS YOU NEED FIVE CAPACITORS.
WHY ?
BECAUSE, AS ALREADY STATED, the CAP NEEDS TO BE AS CLOSE TO THE SENSOR AS POSSIBLE and unless BOTH sensors are in the SAME place, you need a separate cap for EACH sensor. If both sensors are in the same place you could get away with one cap clise to both sensors. I think you should think about what Mike said about the resistor.