Consensus control of multiagent systems arises in various applications such as rendezvous and formation control. The input to these algorithms, e.g., the (relative) positions of neighboring agents need to be measured using various sensors. Recent works aim to reconstruct these positions, i.e., achieve localization using Euclidean distance measurements instead of displacements, for cost efficiency and scalability. However, this approach inherently introduces ambiguities, such as a rotation or a reflection, which can cause stability issues in practice without corrections by some anchors. In this letter, we conduct a thorough analysis of the stability of consensus control in the presence of localization-induced rotational ambiguities, in several scenarios including, e.g., proper and improper rotation, and the homogeneity of rotations. We give stability criteria and stability margin on the rotations, which are numerically verified with two traditional examples of consensus control.

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Estimation of the acoustic-scene related parameters such as relative transfer functions (RTFs) from source to microphones, source power spectral densities (PSDs) and PSDs of the late reverberation is essential and also challenging. Existing maximum likelihood estimators typically consider only subsets of these parameters and use each time frame separately. In this paper we explicitly focus on the single source scenario and first propose a joint maximum likelihood estimator (MLE) to estimate all parameters jointly using a single time frame. Since the RTFs are typically invariant for a number of consecutive time frames we also propose a joint maximum likelihood estimator (MLE) using multiple time frames which has similar estimation performance compared to a recently proposed reference algorithm called simultaneously confirmatory factor analysis (SCFA), but at a much lower complexity. Moreover, we present experimental results which demonstrate that the estimation accuracy, together with the performance of noise reduction, speech quality and speech intelligibility, of our proposed joint MLE outperform those of existing MLE based approaches that use only a single time frame.@en

Estimating the parameters that describe the acoustic scene is very important for many microphone array applications. For example, consider the power spectral densities (PSDs) or relative acoustic transfer functions (RTFs) that are required when estimating a particular sound source using multi-microphone noise reduction. State-of-the-art algorithms estimate the pa-rameters per segment, where each segment consists of a fixed number of time frames. These algorithms exploit the assumption that PSDs are constant per time frame, and RTFs are constant per segment. However, in practice, sound sources will move relative to the microphone array. Improved per-formance is therefore expected when the actual time frames that are used to form the segments are adapted such that time frames all share the same (unknown) RTF. In this paper, we therefore present an algorithm to obtain an optimal adaptive time segmentation and combine this with our previously pub-lished joint maximum likelihood estimator (JMLE) for jointly estimating the RTF, source PSD and late reverberation PSD of a single source in a reverberant environment.@en

Spatial filtering techniques typically rely on estimates of the target relative transfer function (RTF). However, the target speech signal is typically corrupted by late reverberation and ambient noise, which complicates RTF estimation. Existing methods subtract the noise covariance matrix to obtain the target plus late reverberation covariance matrix, from where the RTF is estimated. However, the noise covariance matrix is typically unknown. More specifically, the noise power spectral density (PSD) is typically unknown, while the spatial coherence matrix can be assumed known as it might remain time-invariant for a longer time. Using the spatial coherence matrices we simplify the signal model such that the off-diagonal elements are not affected by the PSDs of the late reverberation and the ambient noise. Then we use these elements to estimate the target covariance matrix, from where the RTF can be obtained. Hence, the resulting estimate of the RTF is insensitive to the noise PSD. Experiments demonstrate the estimation performance of our proposed method.@en

Acoustic-scene-related parameters such as relative transfer functions (RTFs) and power spectral densities (PSDs) of the target source, late reverberation and ambient noise are essential for microphone array signal processing and are challenging to estimate. Existing methods typically only estimate a subset of the parameters by assuming the other parameters are known. This can lead to unmatched scenarios and reduced estimation performance on the parameters of interest. Moreover, many methods process time frames independently, despite they share common information such as the same RTF. In this work, we consider a noisy scenario by modelling the noise component as a spatially homogeneous sound field with a time-invariant spatial coherence matrix and time-varying PSD. We first modify an existing alternating least squares (ALS) method to obtain more accurate estimates using a single time frame. Then, we extend the method to use multiple time frames that share the same RTF. Furthermore, we propose more robust constraints on the PSDs to avoid large estimation errors. We compare our proposed methods to the state-of-the-art simultaneously confirmatory factor analysis (SCFA) method, a joint maximum likelihood estimation (JMLE) method and an existing ALS-based method. The experimental results in terms of estimation accuracy, noise reduction performance, predicted speech quality, and predicted speech intelligibility demonstrate that our proposed methods achieve similar performance compared to the state-of-the-art SCFA method, which outperforms the existing ALS method in all scenarios and outperforms the JMLE method particularly in low SNR scenarios. Moreover, our proposed methods have significantly lower computational complexity than SCFA.

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Many multi-microphone algorithms depend on knowing the relative acoustic transfer functions (RTFs) of the individual sound sources in the acoustic scene. However, accurate joint RTF estimation for multiple sources is a challenging problem. Existing methods to jointly estimate the RTF for multiple sources have either no satisfying performance, or, suffer from a very large computational complexity. In this paper, we propose a method for robust estimation of the individual RTFs in a multi-source acoustic scenario. The presented algorithm is based on linear algebraic concepts and therefore of lower computational complexity compared to a recently presented state-of-the-art algorithm, while having a similar performance. Experimental results are presented to demonstrate the RTF estimation performance as well as the noise reduction performance when combining the estimated RTFs with a beamformer.@en

For hearing-impaired listeners, both ambient noise suppression and binaural cues preservation of directional sources are required, such that a complete spatial awareness of the acoustic scene can be obtained. It was shown that the binaural multichannel Wiener filter (MWF) with partial noise preservation can achieve joint noise reduction and binaural cues preservation and incorporating an external microphone signal improves the performance of binaural MWFs. Motivated by this, we propose a binaural MWF incorporating external wireless devices in this paper. First, we theoretically analyze the performance of the MWF in terms of output signal-to-noise ratio (SNR) and binaural cues preservation errors. As in practice the external devices are power driven with a limited amount of battery resource and the power consumption heavily depends on the transmission rate, given an expected noise reduction performance we then optimize the bit-rate for a single external microphone. Further, we consider to minimize the total power consumption over multiple external devices under a constraint on the output SNR, which turns out to be a rate distribution problem. The proposed rate-distributed binaural MWF is evaluated using a hearing-aid setup with various dynamics. It is shown that the proposed method can obtain a desired SNR at a much lower bit-rate, and an expected trade-off between SNR gain and binaural cues preservation accuracy can be obtained by optimizing the bit-rates. Increasing the bit-rates improves both instrumental speech quality and speech intelligibility.@en