A physics inspired finite state machine controller for mobile acoustic arrays

Abstract

Applying coherent array processing to sound source localization when individual sensors are attached to heterogeneous platforms is a multi-faceted challenge for both perception and mobility. Recent technical advances in robot localization have made such mobile acoustic arrays possible, but the multi-robot coordination problem remains incomplete. How can a team of robots coordinate in cluttered environments, both with each other and static mounted sensors to effectively localize sound sources? This work proposes and implements a physicomimetics based robot control system with solid, liquid, and gas phase finite states. Applying these different phases appropriately enables efficient navigation through clutter and localization of both exposed and buried or hidden sound sources by teams of mobile robots.