  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.
