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Multi-Step-Ahead Information-Based Feedback Control for Active Binaural Localization

Gabriel Bustamante 1 Patrick Danès 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Binaural sound localization is known to be improved by incorporating the movement of the sensor. "Active" schemes based on this paradigm can overcome conventional limitations such as front-back ambiguity and source range recovery. Starting from a Gaussian prior on the relative position of a source, this paper determines the motion of a binaural sensor which leads to the most effective path for localization. To this aim, a reward function is defined as the conditional expectation, over the yet unknown N next observations, of the entropy of the N-step-ahead posterior pdf of the relative source position. The optimal motion of the binaural sensor is obtained from a constrained optimization problem involving the automatic differentiation of the reward function. The method is validated in simulation, and is being implemented on a real-life robotic test bed.
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Submitted on : Friday, February 16, 2018 - 10:39:19 AM
Last modification on : Thursday, June 10, 2021 - 3:05:44 AM
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  • HAL Id : hal-01710585, version 1


Gabriel Bustamante, Patrick Danès. Multi-Step-Ahead Information-Based Feedback Control for Active Binaural Localization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 6p. ⟨hal-01710585⟩



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