US Patent 11159878 Autonomously motile device with beamforming

A device capable of moving a component of the device motion is capable of determining audio data corresponding to a direction relative to the device (“beamforming”). When the component moves, the device determines a new position of the component and selects one of a set of beamforming filter coefficients corresponding to the position. Using the filter coefficients, the device determines the directional audio data.