{"id":"https://openalex.org/W2285490752","doi":"https://doi.org/10.1109/icra.2016.7487411","title":"First applications of sound-based control on a mobile robot equipped with two microphones","display_name":"First applications of sound-based control on a mobile robot equipped with two microphones","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2285490752","doi":"https://doi.org/10.1109/icra.2016.7487411","mag":"2285490752"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039713129","display_name":"Aly Magassouba","orcid":"https://orcid.org/0000-0002-0895-5982"},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Aly Magassouba","raw_affiliation_strings":["Universit\u00e9 Rennes I, IRISA, Rennes cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Rennes I, IRISA, Rennes cedex, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I2802519937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012118069","display_name":"Nancy Bertin","orcid":"https://orcid.org/0000-0002-7690-4378"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nancy Bertin","raw_affiliation_strings":["CNRS, IRISA, Rennes cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, IRISA, Rennes cedex, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037712031","display_name":"Fran\u00e7ois Chaumette","orcid":"https://orcid.org/0000-0002-1238-4385"},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Chaumette","raw_affiliation_strings":["Inria, IRISA, Rennes cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, IRISA, Rennes cedex, France","institution_ids":["https://openalex.org/I2802519937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5105,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61934916,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"27","issue":null,"first_page":"2557","last_page":"2562"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.8944511413574219},{"id":"https://openalex.org/keywords/reverberation","display_name":"Reverberation","score":0.7100541591644287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6949419379234314},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.580125093460083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5234800577163696},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.49379763007164},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4706741273403168},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4341143071651459},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41680383682250977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37981116771698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3467479944229126},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.3006429076194763}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.8944511413574219},{"id":"https://openalex.org/C95851461","wikidata":"https://www.wikidata.org/wiki/Q468809","display_name":"Reverberation","level":2,"score":0.7100541591644287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6949419379234314},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.580125093460083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5234800577163696},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.49379763007164},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4706741273403168},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4341143071651459},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41680383682250977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37981116771698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3467479944229126},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.3006429076194763},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1993815147","https://openalex.org/W2012211082","https://openalex.org/W2024365188","https://openalex.org/W2046317813","https://openalex.org/W2075562975","https://openalex.org/W2093010905","https://openalex.org/W2100818340","https://openalex.org/W2103153410","https://openalex.org/W2112080182","https://openalex.org/W2121065047","https://openalex.org/W2137924757","https://openalex.org/W2149264547","https://openalex.org/W2155323221","https://openalex.org/W2169348580","https://openalex.org/W2197964148","https://openalex.org/W6678139903"],"related_works":["https://openalex.org/W4319862450","https://openalex.org/W4386900535","https://openalex.org/W2288274698","https://openalex.org/W4385361701","https://openalex.org/W4391643140","https://openalex.org/W2068968550","https://openalex.org/W2770231486","https://openalex.org/W2187684650","https://openalex.org/W2159296145","https://openalex.org/W2218753925"],"abstract_inverted_index":{"This":[0],"paper":[1],"validates":[2],"experimentally":[3],"a":[4,22,113,118,129,143],"novel":[5],"approach":[6,72,135],"to":[7,64,80,103,138,142,155],"robot":[8,63,115,141,164],"audition,":[9],"sound-based":[10],"control,":[11],"which":[12],"consists":[13],"in":[14,147],"introducing":[15],"auditory":[16],"features":[17],"directly":[18],"as":[19,90],"inputs":[20],"of":[21,42,51,61,68,76,120,125],"closed-loop":[23],"control":[24],"scheme,":[25],"that":[26],"is,":[27],"without":[28],"any":[29],"explicit":[30],"localization":[31],"process.":[32],"The":[33,109],"applications":[34],"we":[35],"present":[36],"rely":[37],"on":[38,112],"the":[39,43,48,59,62,65,69,74,105,123,140,163],"implicit":[40],"bearings":[41],"sound":[44,145,157],"sources":[45,158],"computed":[46],"from":[47],"time":[49],"difference":[50],"arrival":[52],"(TDOA)":[53],"between":[54],"two":[55,156],"microphones.":[56],"By":[57],"linking":[58],"motion":[60],"aural":[66],"perception":[67,165],"environment,":[70],"this":[71,134],"has":[73],"benefit":[75],"being":[77],"more":[78],"robust":[79],"reverberation":[81],"and":[82,131,170],"noise.":[83],"Therefore":[84],"neither":[85],"complex":[86],"tracking":[87],"method":[88],"such":[89],"Kalman":[91],"filtering":[92],"nor":[93],"TDOA":[94,107,172],"enhancement":[95],"with":[96,117,153],"denoising":[97],"or":[98],"dereverberation":[99],"methods":[100],"are":[101],"needed":[102],"track":[104],"correct":[106],"measurements.":[108,173],"experiments":[110],"conducted":[111],"mobile":[114,144],"instrumented":[116],"pair":[119],"microphones":[121],"show":[122],"validity":[124],"our":[126],"approach.":[127],"In":[128],"reverberating":[130],"noisy":[132],"room,":[133],"is":[136,159,166],"able":[137],"orient":[139],"source":[146],"real":[148],"time.":[149],"A":[150],"positioning":[151],"task":[152],"respect":[154],"also":[160],"performed":[161],"while":[162],"disturbed":[167],"by":[168],"altered":[169],"spurious":[171]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}