Artist Robot Signs Own Work

RAP (Robotic Action Painter) is a new generation of painting robots designed for Museum or long exhibition displays. It is completely autonomous and need very little assistance and maintenance.
RAP creates it's own paintings based on an artificial intelligence algorithm, it decides when the work is ready and signs in the right bottom corner with its distinctive signature.
The algorithm combines initial randomness, positive feedback and a positive/negative increment of 'color as pheromone' mechanism based on a grid of nine RGB sensors.
Also the 'sense of rightness' - to determine when the painting is ready - is achieved not by any linear method, time or sum, but through a kind of pattern recognition system.

Robotic Action Painter
Leonel Moura (with IdMind), 2006