For future jetsonians, here's where we've gotten on this. No claims are made that this is the best approach, but it does seem to work for us (so far).
1. we built and installed a custom mjpg-streamer webserver on the jetson to serve mjpg streams to the driver station... This boots just fine as a standard init.d script.
2. our custom-built mjpg-streamer http server has a trivial extension that allows a remote webbrowser to control parameters of our vision algorithm. This just launches a shell script, which can be modified as desired. We haven't gotten any more fancy than this, but could imagine going further into CGI land or beyond. This would require more webserver hacking and doesn't seem justified at this point.
The result: after powering on the robot, the webserver is available on port 80 on the jetson. (We enabled mDNS services on ubuntu via avahi-set-host-name). Now we can launch our imaging service and it drops occasional images for delivery by mjpg-streamer to the smart dashboard on the driver station.
Issues: if we suffer from brown-out on the robot, the jetson powers off and requires a physical button-press to recover... Anyone have any thoughts on that issue?
Finally: to further protect the jetson, we invested in a power conditioning device. There is some discussion of this issue in the TX1 thread, but here's the one we landed on fwiw:
http://www.amazon.com/gp/product/B011KLQNRG