One embodiment provides a device comprising at least one movable unit, at least one sensor, a printer, at least one processor, and a non-transitory processor-readable memory device storing instructions that when executed by the at least one processor causes the at least one processor to perform operations. The operations include receiving layout and design information, receiving, from the at least one sensor, contextual information indicative that the at least one movable unit is in direct contact with a surface, and triggering the printer to print one or more markings on the surface as the at least one movable unit moves along the surface based on the layout and design information.