Convex Optimization and Modal Analysis for Beamforming in Robotics : Theoretical and Implementation Issues


This paper deals with sound source localization in mobile robotics. This context opens new areas of research as it involves some specific constraints such as real time perfor- mance or embeddability. Quite often, broadband beamform- ing techniques are sought for, exploiting small-sized micro- phone arrays. A new approach to the design of broadband nearfield or farfield beamformers is first described, based on modal analysis and convex optimization. Original consid- erations related to the involvement of the theoretical beam- pattern into the real integrated acoustic sensor are then pre- sented, which lead to alleviate some constraints during the optimization process and enable the use of smaller arrays. The whole method is illustrated on an example.

in European Signal Processig Conference (EUSIPCO)