SPRINTER: A Discrete Locomotion Robot for Precision Swarm Printing This paper presents SPRINTER, a system and method for multirobot printing. In this paper, we discuss the design of a quasiholonomic 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 multirobot printing system which enhances the printing speed and maximizes the printing area of traditional industrial printers.

Printingwhilemoving: a new paradigm for largescale robotic 3D Printing Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in material formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for insitu construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantrybased or armbased) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing systemxe2x80x93a manipulator mounted on a mobile base xe2x80x93 was proposed to alleviate this issue: such a system, by moving its base, can potentially print a structure larger than itself. However, the proposed system could only print while being stationary, imposing thereby a limit on the size of structures that can be printed in a single take. Here, we develop a system that implements the printingwhilemoving paradigm, which enables printing singlepiece structures of arbitrary sizes with a single robot. This development requires solving motion planning, localization, and motion control problems that are specific to mobile 3D Printing. We report our framework to address those problems, and demonstrate, for the first time, a printingwhilemoving experiment, wherein a 210 cm xc3x97 45 cm xc3x97 10 cm concrete structure is printed by a robot arm that has a reach of 87 cm.