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TSP art is an art form for drawing an image using piecewise-continuous linesegments. This paper presents a robotic pen drawing system capable of creatingcomplicated TSP pen art on a planar surface using multiple colors. The systembegins by converting a colored raster image into a set of points that representthe image's tone, which can be controlled by adjusting the point density. Next,the system finds a piecewise-continuous linear path that visits each pointexactly once, which is equivalent to solving a Traveling Salesman Problem(TSP). The path is simplified with fewer points using bounded approximation andsmoothed and optimized using Bezier spline curves with bounded curvature. Ourrobotic drawing system consisting of single or dual manipulators with fingeredgrippers and a mobile platform performs the drawing task by following theresulting complex and sophisticated path composed of thousands of TSP sites. Asa result, our system can draw a complicated and visually pleasing TSP pen art.

TSP-Bot: Robotic TSP Pen Art using High-DoF Manipulators