Exact and distributed algorithms for collaborative camera control

Dezhen Song, A. Frank van der Stappen, and Kenneth Y. Goldberg
Proc. 5th Int. Worksh. Algorithmic Foundations of Robotics (WAFR 2002), Springer Tracts in Advanced Robotics 7, Jean-Daniel Boissonat, J. Burdick, Kenneth Y. Goldberg, and Seth Hutchinson, ed., Springer-Verlag, 2002, pp. 167–183
http://www.tele-actor.net/sharecam/pubs/dez-sharecam-algorithm-iros2003-v08.pdf

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