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Acoustic Ellipses: Bio-Inspired Omnidirectional Echolocation in Cooperative Multi-Agent Systems using Frequency Sweeps

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Inspired by the flight and song of birds, we propose an approach that enables cooperating agents to effectively identify obstacles in their environment by having a stationary source agent emit a frequency-modulated chirp while one or more listener agents observe the direct and reflected signals while in motion. We present a novel mapping approach that exploits the ``frequency gap'' between direct and reflected chirp signals to define candidate reflection ellipses, which are then fed into a 2D accumulation filter to identify locations with the highest density of potential reflections. We demons

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