Abstract
We propose the ShareCam Problem: controlling a single robotic pan, tilt, zoom camera based on simultaneous frame requests from n online users. To solve it, we propose a new piecewise linear metric, Intersection Over Maximum (IOM), for the degree of satisfaction for each users. To maximize overall satisfaction, we present several algorithms. For a discrete set of m distinct zoom levels, we give an exact algorithm that runs in O(n 2 m) time. The algorithm can be distributed to run in O(nm) time at each client and in O(nlog n + mn) time at the server.
This work was supported in part by the National Science Foundation under IIS-0113147 and by Intel Corporation. For more information please contact dzsong@ieor.berkeley.edu or goldberg@ieor.berkeley.edu.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
P. Agarwal and J. Erickson. Geometric range searching and its relatives. In B. Chazelle, J. E. Goodman, and R. Pollack, editors, Advances in Discrete and Computational Geometry, volume 23 of Contemporary Mathematics.
W. Agassounon, A. Martinoli, and R. Goodman. A scaleable distributed algorithm for allocating workers in embedded systems in embedded systems. In IEEE Systems, Man and Cybernetics Conference, 2001.
A.Z.Broder. On the resemblance and containment of documents. In SEQS: Sequences ‘81, 1998.
K. F. Bohringer and H. Choset, editors. Distributed Manipulation. Kluwer Academic Publishers, 2000.
A. Z. Broder, M. Charikar, A.M. Frieze, and M.Mitzenmacher. Min-wise independent permutations. Journal of Computer and System Sciences, 60 (3): 630–659, 2000.
Z. Bulter, S. Byrnes, and D. Rus. Distributed motion planning for modular robots with unit-compressible modules. In IEEE/RSJ International Conference on Intelligent Robots and System (IROS), 2001.
D. J. Cannon. Point-And-Direct Telerobotics: Object Level Strategic Supervisory Control in Unstructured Interactive Human-Machine System Environments. PhD thesis, Stanford Mechanical Engineering, June 1992.
R. Chen, Z. Wu, Y. Wang, and D. Tan C. Dong. Cooperative assembly algorithm of multiple distributed agent based robotic system. In 30th International Symposium on Robotics, 1999.
N. Chong, T. Kotoku, K. Ohba, K. Komoriya, N. Matsuhira, and K. Tanie. Remote coordinated controls in multiple telerobot cooperation. In IEEE International Conference on Robotics and Automation, April 2000.
C. H. Crouch and E. Mazur. Peer instruction: Ten years of experience and results. Americian Journal of Physices, 69 (9), 2001.
D. Eppstein. Fast construciton of planar two-centers. In Proc. 8th ACM-SIAM Sympos. Discrete Algorithms, 1997.
K. Goldberg and B. Chen. Collaborative control of robot motion: Robustness to error. In International Conference on Intelligent Robots and Systems (IROS), 2001.
K. Goldberg, B. Chen, R. Solomon, S. Bui, B. Farzin, J. Heitier, D. Poon, and G. Smith. Collaborative teleoperation via the internet. In IEEE International Conference on Robotics and Automation (ICRA), April 2000.
K. Goldberg and R. Siegwart, editors. Beyond Webcams: An Introduction to Online Robots. MIT Press, 2002.
K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, and J. Donath. Collaborative online teleoperation with spatial dynamic voting and a human “tele-actor”. In IEEE International Conference on Robotics and Automation (ICRA), May 2002.
R. Grossi and G. F. Italiano. Efficient cross-trees for external memory. In James Abello and Jeffrey Scott Vitter, editors, External Memory Algorithms and Visualization, pages 87–106. American Mathematical Society Press, Providence, RI, 1999.
R. Grossi and G. F. Italiano. Revised version of “efficient cross-trees for external memory”. Technical Report TR-00–16, 10 2000.
D. Halperin, M. Shairir, and K. Goldberg. The 2-center problem with obstacles. Journal of Algorithms, 32, 2002.
A.T. Hayes, A. Martinoli, and R.M. Goodman. Swarm robotic odor localization. In IEEE/RSJ International Conference on Intelligent Robots and System (IROS), 2001.
http://www.x-zone.canon.co.jp/WebView-E/all/list.htm /WebView-E/all/list.htm.
H. Hu, L. Yu, P. Tsui, and Q. Zhou. Internet-based robotic systems for tele-operation. Assembly Automation Journal, 21 (2), 2001.
A.K Jain, M.N. Murty, and P.J. Flyn. Data clustering: A review. ACM Computing Surveys, 31 (3), 1999.
S. Jia and K. Takase. A corba-based internet robotic system. Advanced Robotics, 15 (6), 2001.
D.E. Johnson. Applied Multivariate Methods for Data Analysis. Duxbury Press, 1998.
V. Kapelios, G. Panagopoulou, G. Papamichail, S. Sirmakessis, and A. Tsakalidis. The cross rectangle intersection problem. Computer Journal, 38 (3), 1995.
D. Kimber, Q. Liu, J. Foote, and L. Wilcox. Capturing and presenting shared multi-resolution video. In SPIE ITCOM 2002. Proceeding of SPIE, Boston, volume 4862, pages 261–271, Jul. 2002.
P. Ku, K.T. Winther, H.F. Stephanou, and R. Safaric. Distributed control system for an active surface device. In IEEE International Conference on Robotics and Automation (ICRA), 2001.
Q. Liu, D. Kimber, J. Foote, L. Wilcox, and J. Boreczky. Flyspec: A multiuser video camera system with hybrid human and automatic control. In ACM Multimedia 2002, France, Dec. 2002.
M. McDonald, D. Small, C. Graves, and D. Cannon. Virtual collaborative control to improve intelligent robotic system efficiency and quality In IEEE International Conference on Robotics and Automation, April 1997.
N. Megiddo and K.J. Supowit. on the complexity of some common geometric location problems. SI AM J. Comput., 13, 1984.
H. Moon and J. Luntz. Computing equilibria on superpositions of logarithmic-radial potential fields. In The Workshop on Algorithmic Foundations of Robotics, December, Dec. 2002.
D.M. Mount, R. Silverman, and A.Y. Wu. On the area of overlap of translated polygons. Computer Vision and Image Understanding, 64: 353–61, 1996.
E. Mumolo, M. Nolich, and G. Vercelli. Algorithms and architectures for acoustic localization based on microarray in service robotics. In IEEE International Conference on Robotics and Automation (ICRA), 2000.
S.G. Nash and A. Sofer, editors. Linear and Nonlinear Programming. The McGraw-Hill Companies, Inc, 1996.
L.E. Parker. Distributed algorithms for multi-robot observation of multiple moving targets. Autonomous Robots, 12 (3), 2002.
B. Rogoff, E. Matusov, and C. White. Models of teaching and learning: Participation in a community of learners. Oxford, England: Blackwell, 1996.
R. Safaric, M. Debevc, R. Parkin, and S. Uran. Telerobotics experiments via internet. IEEE Transactions on Industrial Electronics, 48 (2): 424–31, April 2001.
R. Sagawa, K. Nishino, M.D. Wheeler, and K. Ikeuchi. Parallel processing of range data merging. In IEEE/RSJ International Conference on Intelligent Robots and System (IROS’), 2001.
R. C. Veltkamp and M. Hagedoorn. Shape similarity measures, properties, and constructions. In Advances in Visual Information Systems, 4th International Conference, VISUAL 2000, Lyon, France, November 2–4, 2000, Proceedings VISUAL, volume 1929, pages 467–476. Springer, 2000.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Song, D., van der Stappen, A.F., Goldberg, K. (2004). Exact and Distributed Algorithms for Collaborative Camera Control. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_11
Download citation
DOI: https://doi.org/10.1007/978-3-540-45058-0_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-07341-0
Online ISBN: 978-3-540-45058-0
eBook Packages: Springer Book Archive