ShareCam part II: approximate and distributed algorithms for a collaboratively controlled robotic Webcam

D. Song, A. Pashkevich, K. Goldberg
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)  
ShareCam is a robotic pan, tilt, and zoom web-based camera controlled by simultaneous frame requests from online users. A companion paper 1 describes the system. This paper, Part II, focuses on algorithms. The ShareCam problem is to find a camera frame that optimizes a measure of total user satisfaction. We present a grid-based approximation algorithm: given camera frame requests from n users, and approximation bound , we analyze the tradeoff between solution quality and processing speed and
more » ... essing speed and prove that the algorithm runs in O(n/ 3 ) time. The algorithm can be distributed to run in O(1/ 3 ) time at each client and in O(n + 1/ 3 ) time at the server. Experiments suggest that performance of the distributed algorithm degrades gracefully as clients fail to complete their part of the computation. ShareCam can be found online at:
doi:10.1109/iros.2003.1248789 dblp:conf/iros/SongPG03 fatcat:yljgw35i3rdp5pqzq7srgeceym