Abstract: Examples relate to systems and methods for tracking a marking device, and for determining a set of locations for a measurement station. A method comprises receiving site layout information including information of a plurality of marking targets, defining potential optical obstructions, and determining a station placement list from a plurality of potential station placement locations.

Abstract: In an example, a method of operating a surface marking robot comprises receiving a first digital representation of a floor plan comprising a plurality of floor plan features, and identifying a specific floor plan feature corresponding to a specific printing resources consumption. In response to identifying the specific floor plan feature, the method comprises modifying the first digital representation to produce a second digital representation in which the specific floor plan feature is replaced by an alternative floor plan feature corresponding to an alternative printing resources consumption which is reduced compared to the specific printing resources consumption.