Autonomous Robots

, Volume 42, Issue 2, pp 477–490 | Cite as

An information based feedback control for audio-motor binaural localization

  • Gabriel Bustamante
  • Patrick Danès
  • Thomas Forgue
  • Ariel Podlubne
  • Jérôme Manhès
Part of the following topical collections:
  1. Active Perception


In static scenarios, binaural sound localization is fundamentally limited by front-back ambiguity and distance non-observability. Over the past few years, “active” schemes have been shown to overcome these shortcomings, by combining spatial binaural cues with the motor commands of the sensor. In this context, given a Gaussian prior on the relative position to a source, this paper determines an admissible motion of a binaural head which leads, on average, to the one-step-ahead most informative audio-motor localization. To this aim, a constrained optimization problem is set up, which consists in maximizing the entropy of the next predicted measurement probability density function over a cylindric admissible set. The method is appraised through geometrical arguments, and validated in simulations and on real-life robotic experiments.


Robot audition Binaural audition Active localization Information theory Information based control 



The authors would like to thank Matthieu Herrb, Anthony Mallet, and Xavier Dollat for their invaluable help.


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Copyright information

© Springer Science+Business Media, LLC 2017

Authors and Affiliations

  1. 1.LAAS-CNRSUniversité de Toulouse, CNRS, UPSToulouseFrance

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