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艺术是一种利用无交叉的分段连续线段绘制图像的艺术形式。本文提出了一种机器人笔绘系统，能够在平面上使用多色彩创作复杂的TSP笔触艺术。该系统首先将彩色光栅图像转换为一系列表示图像色调的点集，通过调整点的密度控制色调效果。随后，系统寻找一条恰好访问每个点一次的分段连续线性路径，这等价于求解旅行商问题（TSP）。该路径通过有界近似方法简化点数，并利用具有曲率约束的贝塞尔样条曲线进行平滑与优化。我们的机器人绘图系统由配备指状夹爪的单或双机械臂及移动平台组成，通过跟踪由数千个TSP点构成的复杂路径执行绘图任务。实验结果表明，该系统能够以高精度和高效率绘制复杂且视觉悦目的TSP笔触艺术。我们还验证了系统可在大型墙面上完成TSP笔触艺术绘制，这对人类艺术家而言极具挑战性。