Lightweight Audio Source Localization for Swarm Robots

Conference paper (2021)

Authors

A.Y. Majid Electronics - EEMCS
C van der Horst Student
D.J. Zwart Student
Ranga Rao Venkatesha Prasad Embedded Systems - EEMCS
Research Group
Electronics (EEMCS) (TU Delft)
Copyright: © 2021 A.Y. Majid, C. van der Horst, T.L. van Rietbergen, D.J. Zwart, Ranga Rao Venkatesha Prasad
DOI
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https://doi.org/10.1109/CCNC49032.2021.9369572
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Electrical Engineering, Mathematics and Computer Science

Department

Microelectronics

Research Group

Electronics

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.