Brushstroke rendering algorithm for a painting robot

A painting robot ARTCYBE is a machine developed to imitate an ability of a human painter to create realistic images with acrylic paints and a brush. In this paper a brushstroke rendering algorithm for this robot is presented. The algorithm converts a source bitmap image into a set of brushstrokes which we call a brushstroke map. The brushstroke map can be unambiguously transformed into a list of commands driving the painting robot. Simulated paintings obtained by proposed algorithm are represented. Advantages of the described algorithm in comparison to other known brushstroke rendering algorithms are discussed.