TSP art is an art form for drawing an image using piecewise-continuous line segments with no crossings. This paper presents a robotic pen drawing system capable of creating complicated TSP pen art on a planar surface using multiple colors. The system begins by converting a colored raster image into a set of points that represent the image's tone, which can be controlled by adjusting the point density. Next, the system finds a piecewise-continuous linear path that visits each point exactly once, which is equivalent to solving a Traveling Salesman Problem (TSP). The path is simplified with fewer points using bounded approximation and smoothed and optimized using B\'ezier spline curves with bounded curvature. Our robotic drawing system consisting of single or dual manipulators with fingered grippers and a mobile platform performs the drawing task by following the resulting complex and sophisticated path composed of thousands of TSP sites. As a result, our system can draw a complicated and visually-pleasing TSP pen art with high accuracy and efficiency. We also demonstrate that our system can draw TSP pen art on a large wall, which is very hard for a human artist to achieve.

翻译：TSP 艺术是一种艺术形式, 用于用没有交叉点的片段绘制图像。 本文展示了一个机器人笔画系统, 能够用多种颜色在平面表面创建复杂的 TSP 笔画。 系统首先将彩色光栅图像转换成代表图像音调的一组点, 可以通过调整点密度来控制。 其次, 系统会找到一个精确访问每个点一次的片面连续线性线性路径, 相当于解决旅行销售员问题 。 路径会简化, 使用捆绑近、 平滑和优化的点减少, 使用B\' ezier 样条曲线, 并用捆绑定曲线 。 我们的机器人画系统由单人或双人操纵器组成, 并有一个移动平台来完成绘图任务, 遵循由此形成的由数千 TSP 站点组成的复杂而复杂的路径。 结果, 我们的系统可以以高精度和效率绘制复杂和视觉的 TSP 笔画。 我们还演示我们的系统可以在大型墙上绘制 TSP 支笔, 这对于人类艺术家很难实现 。</s>