Other Movement

Rotation of Theta

Rotating the robots around the midpoint between them, that is, changing the variable Theta (show in diagram below), becomes important when dealing with physical limitations on the 2D movement. If the robots are confined by any type of boundary, the optimal configuration would have them align along that boundary, rather than facing forwards (with Theta=0). Commanding the robots to rotate in this way is an important step in improving localizing on a 2D surface.

Shifting and Approaching/Retreating

This type of movement involves shifting the robots sideways, forwards, and backwards in order to place the region of highest resolution of localization as close as possible to the sound source. Having the ability to approach the source, rather than just centering the robots on it is another advantage of 2D movement.