优化分配的多机器人优化打印: 一种算法方法 (Towards Optimized Distributed Multi-Robot Printing: An Algorithmic Approach)

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.

翻译：本文展示了一种分布式多机器人打印方法,该方法使用优化方法分解并分配一个打印任务给一组移动机器人。这一问题的动机是使用适当的任务分解算法来尽量减少机器人的打印时间。我们提出了一个这样的算法,在将图像分解成分解的大地测量细胞之前,将其分配给机器人打印。除此之外, 我们还展示了能够将墨水喷洒到平滑表面的、受数字控制的全金机器人的设计。此外, 我们用这个机器人来实验性地验证这个文件的结果。