For my dissertation at UCSD, I’m working on a method of robotic sound source localization that uses multiple networked robots to graphically represent the physical and sonic characteristics of a given space. The current system uses a Beaglebone Black as its main processing engine. For sound localization, audio is sent through an input board designed by myself and Mauricio de Oliveira. The input board contains stereo preamps, signal summer/subtractor, envelope detectors, and threshold detectors. This allows communication with the BBB’s analog and digital GPIO pins. So far, the robots have gone through several iterations, employing various means of control, audio input, and locomotion. Here are images of a few of those iterations.