  TSP art is an art form for drawing an image using piecewise-continuous line
segments. We present TSP-Bot, 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 Bezier 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 complicated and visually pleasing TSP pen art.
