A study on determination of a sound wave propagation direction for tracing a sound source

We think robots that move in rubble can approach a sound source by tracing the sound wave propagation. It is necessary to determine the sound wave propagation direction for doing these tasks. In this report, we propose the theory and systems for the determination of a sound propagation direction. Furthermore, we confirm that it is possible to trace a sound propagation and approach a sound source in a labyrinth the model of a rubble.