NDLI: Optimizing the layout of multiple mobile robots for cooperative sound source separation

Content Provider	IEEE Xplore Digital Library
Author	Sekiguchi, K. Bando, Y. Itoyama, K. Yoshii, K.
Copyright Year	2015
Description	Author affiliation: Grad. Sch. of Inf., Kyoto Univ., Sakyo, Japan (Sekiguchi, K.; Bando, Y.; Itoyama, K.; Yoshii, K.)
Abstract	This paper presents a novel active audition method that enables multiple mobile robots to move to optimal positions for improving the performance of sound source separation. A main advantage of our distributed system is that each robot has its own microphone array and all mobile robots can collaborate on source separation by regarding a set of movable microphone arrays as a big reconfigurable array. To incrementally optimize the positions of the robots (the layout of the big microphone array) in an active-audition manner, it is necessary to predict the source separation performance from a possible layout of the next time step although true source signals are unknown. To solve this problem, our method simulates delay-and-sum beamforming from a possible layout for theoretically calculating the gain for each frequency component of a source signal in the corresponding separated signal. The robots are moved into a layout with the highest average gain over all sources and the whole frequency range. The experimental results showed that the harmonic mean of signal-to-distortion ratios (SDRs) was improved by 6.0 dB in simulations and by 5.7 dB in a real environment.
Starting Page	5548
Ending Page	5554
File Size	1473347
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7354163
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Microphones Layout Source separation Arrays Mobile robots Array signal processing
Content Type	Text
Resource Type	Article

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