SPRINTER: A Discrete Locomotion Robot for Precision Swarm Printing

This paper presents SPRINTER, a system and method for multi-robot printing. In this paper, we discuss the design of a quasi-holonomic mobile robot and present a method which uses a group of such robots to distributively print a large graphical image. In the distributive printing method, we introduce the concept of image cellularization for segmenting the graphic into a group of smaller printing tasks. We then discuss a centralized method to allocate these tasks to each robot and execute the printing process. In summary, we present a multi-robot printing system which enhances the printing speed and maximizes the printing area of traditional industrial printers.