This paper presents a distributed multi-robot printing method which utilizes an optimization approach to decompose and allocate a printing task to a group of mobile robots. The motivation for this problem is to minimize the printing time of the robots by using an appropriate task decomposition algorithm. We present one such algorithm which decomposes an image into rasterized geodesic cells before allocating them to the robots for printing. In addition to this, we also present the design of a numerically controlled holonomic robot capable of spraying ink on smooth surfaces. Further, we use this robot to experimentally verify the results of this paper.

中文翻译：

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走向优化的分布式多机器人打印：一种算法方法

本文提出了一种分布式多机器人打印方法，该方法利用优化方法来分解打印任务并将其分配给一组移动机器人。该问题的动机是通过使用适当的任务分解算法来最大程度地减少机器人的打印时间。我们提出了一种这样的算法，该算法将图像分解为栅格化的测地线像元，然后再将其分配给机器人进行打印。除此之外，我们还介绍了一种能够在光滑表面上喷射墨水的数控完整机器人的设计。此外，我们使用此机器人来实验验证本文的结果。