We report our algorithmic development of the pframe problem that addresses the need of coordinating a set of p networked robotic pan-tilt-zoom cameras for n, (n > p), competing polygonal requests. We assume that the p frames have almost no overlap on the coverage between frames and a request is satisfied only if it is fully covered. We then propose a Resolution Ratio with Non-Partial Coverage (RRNPC) metric to quantify the satisfaction level for a given request with respect to a set of p

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... te frames. We propose a latticebased approximation algorithm to search for the solution that maximizes the overall satisfaction. The algorithm builds on an induction-like approach that finds the relationship between the solution to the (p − 1)-frame problem and the solution to the p-frame problem. For a given approximation bound , the algorithm runs in O(n/ 3 + p 2 / 6 ) time. We have implemented the algorithm and experimental results are consistent with our complexity analysis.