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Optimal escape theory generally assumes that animals have accurate information about predator distance and direction of approach. To what degree such information is available depends not only on the prey's sensory capabilities but also on its behaviour. The structure of behaviour can strongly constrain or support the gathering of information. The ability of(More)
— Sound source localization can be used in the Robocup Rescue Robots League as a sensor that is capable to autonomously detect victims that emit sound. Using differential time of flight measurements through energy cross-spectrum evaluation of the sound signals, the angular direction to multiple sound sources can be determined with a pair of microphones for(More)
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