Towards Optimized Distributed Multi-Robot Printing: An Algorithmic Approach
This work addresses an incremental improvement in domain-specific robotics for printing applications.
The paper tackles the problem of minimizing printing time for multi-robot systems by developing a distributed method that decomposes images into rasterized geodesic cells and allocates them to robots, with experimental verification using a custom-designed holonomic robot.
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.