Fig. 1: Creating speech zones using our acoustic swarms.
From: Creating speech zones with self-distributing acoustic swarms
A Shows the acoustic swarm on the table in the front being used to create a conversation zone and a mute zone based on the 2D locations of each of the speakers. B Shows a handful of our swarm robots. C Shows a closeup with (D) showing an exploded view where each robot has a pair of microphones, a speaker, an IMU, two motors, and photo-interrupter to detect surface edges. E Shows the base station with an entry ramp, a grooved, meandered track, and an exit ramp. F Shows the base with a conductive tape that lines the grooves of the platform. The robot’s aluminum balls come in contact with them as shown in (G). When powered using a 6 V DC source, this can charge all robots on the platform simultaneously.
