Ben Rudzyn Mohammed Waleed Kadous Claude Sammut Real time robot audition system incorporating both 3D sound source localisation and voice characterisation. 4733-4738 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364208 db/conf/icra/icra2007.html#RudzynKS07