Lightweight Audio Source Localization for Swarm Robots

A.Y. Majid, C. van der Horst, T.L. van Rietbergen, D.J. Zwart, R.R. Venkatesha Prasad

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

The ability to localize a sound source is essential for safe integration of robots in our society. However, its high computational demand makes it challenging to equip small swarm robots with such capability. Therefore, this paper investigates potential means for developing a lightweight sound source localization method. It introduces the Cutting The Plane (CTP) algorithm which leverages recent advancements in embedded microphone technology to reduce the computation complexity of audio source localization. We analyzed its performance and compared it to a software-based approach using simulation. Finally, we performed tests on real hardware to show the feasibility of using our system for relative localization between swarm robots.
Original languageEnglish
Title of host publication2021 IEEE 18th Annual Consumer Communications and Networking Conference, CCNC 2021
PublisherIEEE
Number of pages6
ISBN (Electronic)9781728197944
ISBN (Print)978-1-7281-9794-4
DOIs
Publication statusPublished - 2021
Event1st IEEE International Workshop on Communication and Networking for Swarms Robotics - Virtual/online event due to COVID-19
Duration: 9 Jan 202112 Jan 2021
Conference number: 1

Publication series

Name2021 IEEE 18th Annual Consumer Communications and Networking Conference, CCNC 2021

Workshop

Workshop1st IEEE International Workshop on Communication and Networking for Swarms Robotics
Abbreviated titleRoboCom 2021
Period9/01/2112/01/21

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