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arXiv · 2510.14849

Multi Agent Switching Mode Controller for Sound Source localization

Marcello Sorge·Nicola Cigarini·Riccardo Lorigiola·Giulia Michieletto·Andrea Masiero·Angelo Cenedese·Alberto Guarnieri
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Abstract

Source seeking is an important topic in robotic research, especially considering sound-based sensors since they allow the agents to locate a target even in critical conditions where it is not possible to establish a direct line of sight. In this work, we design a multi- agent switching mode control strategy for acoustic-based target localization. Two scenarios are considered: single source localization, in which the agents are driven maintaining a rigid formation towards the target, and multi-source scenario, in which each agent searches for the targets independently from the others.

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Marcello Sorge, Nicola Cigarini, Riccardo Lorigiola, Giulia Michieletto, Andrea Masiero, Angelo Cenedese, Alberto Guarnieri. 2025-10-16. Multi Agent Switching Mode Controller for Sound Source localization. https://arxiv.org/abs/2510.14849

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