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This paper presents a distributed painting algorithm for painting a prioriknown rectangular region by swarm of autonomous mobile robots. We assume thatthe region is obstacle free and of rectangular in shape. The basic approach isto divide the region into some cells, and to let each robot to paint one ofthese cells. Assignment of different cells to the robots is done by ranking therobots according to their relative positions. In this algorithm, the robotsfollow the basic Wait-Observe-Compute-Move model together with the synchronoustiming model. This paper also presents a simulation of the proposed algorithm.The simulation is performed using the Player/Stage Robotic Simulator on Ubuntu10.04 (Lucid Lynx) platform.

Distributed Painting by a Swarm of Robots with Unlimited Sensing Capabilities and Its Simulation