A rainbow $k$-dominating function assigns the empty set or exactly one of the colors $\{1\},\{2\},\ldots,\{k\}$ to each vertex of a simple graph in such a way that every vertex receiving $\emptyset$ sees all $k$ colors in its neighborhood. This model has several facility-location interpretations where colored vertices represent sites hosting different types of services, and uncolored vertices represent the beneficiaries of those services who must have access to all of them. In this paper we study this domination variant in regular graphs. First, we develop lower and upper bounds for this class of graphs, and explore their structural consequences. Then, we use those results to prove NP-completeness of a decision formulation of this problem. Additionally, we derive exact formulas for the rainbow $k$-domination number of cycles, Möbius ladders and prisms. Lastly, we develop a dynamic-programming algorithm for generalized Petersen graphs of the form $P(6t, t)$ and state two conjectures based on the output of its implementation and related integer linear programming computations.

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