Importance

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Abstract

A method of locating an acoustic source using a plurality of vehicles is provided. The method includes transferring acoustic input from a plurality of sensors to a plurality of processing modules, determining a location of each of the vehicles using at least one of a global positioning system module and an inertial motion unit module located in each vehicle, processing, at each processing module, the received acoustic input, designating one of the processing modules a master processing module, and sending processed acoustic input received at each processing module to the master processing module, combining the processed acoustic input at the master processing module, and estimating acoustic source location based on combined processed acoustic data. The method may further include determining if the master processing module is functional, and responsive to determining that the master processing module is not functional, designating a different one of the plurality of processing modules as the master processing module.

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First Claim