Improvement in outdoor sound source detection using a quadrotor-embedded microphone array. - Takuma Ohata; Keisuke Nakamura; Takeshi Mizumoto; Taiki Tezuka; Kazuhiro Nakadai (IROS, 2014)

Outdoor Sound Source Detection Using a Quadcopter with Microphone Array. - Takuma Ohata; Keisuke Nakamura; Akihide Nagamine; Takeshi Mizumoto; Takayuki Ishizaki; Ryosuke Kojima; Osamu Sugiyama; Kazuhiro Nakadai (J. Robotics Mechatronics, 2017)