AI-based Simultaneous Audio Localization and Communication for Robots

AI-based Simultaneous Audio Localization and Communication for Robots

Mjaid, Amjad Yousef (Martel-Innovate)
Venkatesha Prasad, Ranga Rao (TU Delft Networked Systems)
Jonker, Mees (Student TU Delft)
Van Der Horst, Casper (Student TU Delft)
De Groot, Lucan (Student TU Delft)
Narayana, S. (TU Delft Networked Systems)

2023

Introducing Chirpy, a hardware module designed for swarm robots that enables them to locate each other and communicate through audio. With the help of its deep learning module (AudioLocNet), Chirpy is capable of performing localization in challenging environments, such as those with non-line-of-sight and reverb. To support concurrent transmission, Chirpy uses orthogonal audio chirps and has an audio message frame design that balances localization accuracy and communication speed. As a result, a swarm of robots equipped with Chirpies can on-the-fly construct a path (or a potential field) to a location of interest without the need for a map, making them ideal for tasks such as search and rescue missions. Our experiments show that Chirpy can decode messages from four concurrent transmissions with a Bit Error Rate (BER) of at a distance of 250 cm, and it can communicate at Signal-to-Noise Ratios (SNRs) as low as -32 dB while maintaining ≈ 0 BER. Furthermore, AudioLocNet demonstrates high accuracy in classifying the location of a transmitter, even in adverse conditions such as non-line-of-sight and reverberant environments.

http://resolver.tudelft.nl/uuid:d4748324-fa80-4da6-ac52-55d1a11b5ca3

https://doi.org/10.1145/3576842.3582373

Association for Computing Machinery (ACM)

979-8-4007-0037-8

Proceedings - 8th ACM/IEEE Conference on Internet of Things Design and Implementation, IoTDI 2023

8th ACM/IEEE Conference on Internet of Things Design and Implementation, IoTDI 2023, 2023-05-09 → 2023-05-12, San Antonio, United States

ACM International Conference Proceeding Series

Institutional Repository

conference paper

© 2023 Amjad Yousef Mjaid, Ranga Rao Venkatesha Prasad, Mees Jonker, Casper Van Der Horst, Lucan De Groot, S. Narayana