Active audition using the parameter-less self-organising map

This paper presents a novel method for enabling a robot to determine the position of a sound source in three dimensions using just two microphones and interaction with its environment. The method uses the Parameter-Less SelfOrganising Map (PLSOM) algorithm and Reinforcement Learning (RL) to achieve rapid, accurate response. We also introduce a method for directional filtering using the PLSOM. The presented system is compared to a similar system to evaluate its performance. Keywords Active audition

• Type: Journal
• Year: 2008
• Where: AROBOTS
• Authors: Erik Berglund, Joaquin Sitte, Gordon Wyeth
• Keywords: AROBOTS 2007, AROBOTS 2008, Keywords Active Audition, Parameter-Less SelfOrganising Map, Sound Source