Warrens Island is a Maine state park just off of Islesboro in West Penobscot Bay. It is quite a way from MDI(about 40 miles at least). the camping is however very good there The options for island camping in Frenchmen's Bay are limited mainly to the east side of the bay near schoodic point and winter harbor. My suggestion is that you camp either in Acadia National Park on the Island or Lamoine State Park in Lamoine--just north of the island---about 1-2 miles by water- and use those places as a base---from Lamoine you can launch your kayak directly into frenchmens bay and go as far as bar harbor and Ironbound/Porqupine Islands or follow the coast to Sorrento and beyond.