B. Jont, D. A. Allen, and . Berkley, Image method for efficiently simulating small-room acoustics, Journal of the American Society of Acoustics, vol.65, issue.4, pp.943-950, 1979.

J. S. Abel, Optimal sensor placement for passive source localization, International Conference on Acoustics, Speech, and Signal Processing, pp.2927-2930, 1990.
DOI : 10.1109/ICASSP.1990.116239

D. O. Brian, J. B. Anderson, and . Moore, Optimal Filtering, 1979.

[. Aranda, S. Martinez, and F. Bullo, On optimal senor placement and motion coordination for target tracking, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.4544-4549, 2005.

[. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking, IEEE Transactions on Signal Processing, vol.50, issue.2, pp.174-188, 2002.
DOI : 10.1109/78.978374

[. Arulampalam and B. Ristic, <title>Comparison of the particle filter with range-parameterized and modified polar EKFs for angle-only tracking</title>, Signal and Data Processing of Small Targets 2000, pp.288-299, 2000.
DOI : 10.1117/12.391985

[. Buchner, R. Aichner, and W. Kellermann, TRINICON-based Blind System Identification with Application to Multiple-Source Localization and Separation, Blind Speech Separation, 2007.
DOI : 10.1007/978-1-4020-6479-1_4

S. Michael, J. E. Brandstein, H. F. Adcock, and . Silverman, A closed-form location estimator for use with room envi- BIBLIOGRAPHY ronment microphone arrays Hierarchical particle filter for bearings-only tracking Effects of room reverberation on time-delay estimation performance, BCS94] Stéphane Bédard, Benoit Champagne, and Alex Stéphenne Proceedings of the IEEE ICASSP, pp.45-501567, 1994.

J. Benesty, Adaptive eigenvalue decomposition algorithm for passive acoustic source localization, The Journal of the Acoustical Society of America, vol.107, issue.1, pp.384-391, 2000.
DOI : 10.1121/1.428310

[. Bergman, Recursive Bayesian Estimation, Navigation and Tracking Applications, 1999.

S. Michael and . Brandstein, A Framework for Speech Source Localization Using Sensor Arrays, 1995.

[. Bian, J. M. Rehg, and G. D. Abowd, Sound Source Localization in Domestic Environment, 2004.

J. Cadre, Properties of estimability criteria for target motion analysis, IEE Proceedings-Radar, Sonar and Naviagation, pp.92-99, 1998.
DOI : 10.1049/ip-rsn:19981833

[. Chen, J. Benesty, and Y. Huang, Time Delay Estimation in Room Acoustic Environments: An Overview, EURASIP Journal on Advances in Signal Processing, vol.11, issue.6, pp.1-19, 2006.
DOI : 10.1155/ASP/2006/26503

[. Champagne, S. Bédard, and A. Stéphenne, Performance of time-delay estimation in the presence of room reverberation, IEEE Transactions on Speech and Audio Processing, vol.4, issue.2, pp.148-152, 1996.
DOI : 10.1109/89.486067

K. [. Chan and . Ho, A simple and efficient estimator for hyperbolic location, IEEE Transactions on Signal Processing, vol.42, issue.8, pp.1905-1915, 1994.
DOI : 10.1109/78.301830

Y. Cheng and B. Li, Dsp-based acoustic source localization, 2004.

Z. Chen, L. Liu, P. He, Z. Chou, and . Zhang, Energy-Based Position Estimation of Microphones and Speakers for Ad Hoc Microphone Arrays, 2007 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics, pp.22-25, 2007.
DOI : 10.1109/ASPAA.2007.4393035

A. [. Carter, P. G. Nuttall, and . Cable, The smoothed coherence transform, Proceedings of the IEEE, pp.1497-1498, 1973.
DOI : 10.1109/PROC.1973.9300

. Conrad, Mono-Mikrofon Vorverstärker, 03/99 edition, Best.Nr, pp.19-76, 1999.

E. Ronald, L. R. Crochiere, and . Rabiner, Interpolation and decimation of digital signals -a tutorial review, Proceedings of the IEEE, vol.69, issue.3, pp.300-331, 1981.

J. , L. Cadre, and O. Trémois, Bearings-only tracking for maneuvering sources, IEEE Transactions on Aerospace and Electronic Systems, vol.34, issue.1, pp.179-193, 1998.

J. C. Chen, K. Yao, and R. E. Hudson, Source localization and beamforming, IEEE Signal Processing Magazine, vol.19, issue.2, pp.30-39, 2002.
DOI : 10.1109/79.985676

C. Joe, L. Chen, H. Yip, D. Wang, R. E. Maniezzo et al., Dsp implementation of a distributed acoustical beamformer on a wireless sensor platform, Proceedings of the IEEE ICASSP, pp.597-600, 2003.

J. H. Dibiase, M. S. Brandstein, and H. F. Silverman, Robust localization in reverberant rooms On sequential monte carlo sampling methods for bayesian filtering, Microphone Arrays: Signal Processing Techniques and Applications, pp.197-225, 2000.

A. Dempster, N. Laird, and D. Rubin, Maximum likelihood from incomplete data via the em algorithm, Journal of the Royal Statistical Society, vol.39, issue.1, pp.1-38, 1977.

[. Ds275, Line-Powered RS-232 Transceiver Chip, 1995.

[. Emile, P. Comon, and L. Roux, Estimation of time delays with fewer sensors than sources, IEEE Transactions on Signal Processing, vol.46, issue.7, pp.2012-2015, 1998.
DOI : 10.1109/78.700972

T. Bertrand and . Fang, Simple solutions for hyperbolic and related position fixes, IEEE Transactions on Aerospace and Electronic Systems, vol.26, issue.5, pp.748-753, 1990.

P. Fearnhead, Sequential Monte-Carlo Methods in Filter Theory, 1998.

M. Fallon and S. Godsill, Multi Target Acoustic Source Tracking using Track Before Detect, 2007 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics, pp.102-105, 2007.
DOI : 10.1109/ASPAA.2007.4392977

R. Fletcher, Practical Methods of Optimization, Whiley VCH, 2000.
DOI : 10.1002/9781118723203

H. Wade and . Foy, Position-location solutions by taylor-series estimation, IEEE Transactions on Aerospace and Electronic Systems, vol.12, issue.2, pp.187-194, 1976.

M. Robert, J. M. Gray, T. Goodman, . Gustafsson, D. Bhaskar et al., Fourier Transforms. An Introduction for Engineers Analysis of time-delay estimation in reverberant environments Source localization in reverberant environments: Modeling and statistical analysis, Proceedings of the IEEE ICASSP IEEE Transactions on Speech and Audio Processing, issue.6, pp.2097-2100, 1995.

D. [. Gordon, A. F. Salmond, and . Smith, Novel approach to nonlinear/non-gaussian bayesian state estimate, IEE Proceedings, vol.140, issue.2, pp.107-113, 1993.

[. Huang, J. Benesty, and G. W. Elko, Passive acoustic source localization for video camera steering, Proc. IEEE Int. Conf. Acoustics, Speech, and Signal Processing, pp.909-912, 2000.

[. Huang, J. Benesty, G. W. Elko, and R. M. Mersereau, Real-time passive source localization: a practical linear-correction least-squares approach, IEEE Transactions on Speech and Audio Processing, vol.9, issue.8, pp.943-956, 2001.
DOI : 10.1109/89.966097

Y. C. Ho and R. C. Lee, A Bayesian approach to problems in stochastic estimation and control, IEEE Transactions on Automatic Control, vol.9, issue.4, pp.333-339, 1964.
DOI : 10.1109/TAC.1964.1105763

D. Jeroen, T. B. Hol, F. Schön, and . Gustafsson, On resampling algorithms for particle filters, Proceedings of the IEEE Nonlinear Statistical Signal Processing Workshop, pp.79-82, 2006.

[. Hegazy and G. Vachtsevanos, Sensor Placement for Isotropic Source Localization, Proceedings of the Second International Workshop on Information Processing in Sensor Networks, 2003.
DOI : 10.1007/3-540-36978-3_29

D. B. Jourdan and N. Roy, Optimal sensor placement for agent localization, Proceeding IEEE/ION PLANS, pp.128-139, 2006.

J. Simon, J. K. Julier, and . Uhlmann, A new extension of the kalman filter to nonlinear systems, The Proceedings of AeroSense: The 11th International Symposium on Aerospace/Defense Sensing, Simulation and Control, 1997.

J. Simon, J. K. Julier, and . Uhlmann, Unscented filtering and nonlinear estimation, Proceedings of the IEEE, pp.401-422, 2004.

J. Simon and . Julier, Process Models for the Navigation of High-Speed Land Vehicles, 1997.

J. Simon and . Julier, The scaled unscented transformation, Proceedings of the American Control Conference, pp.4555-4559, 2002.

R. E. Kalman, A new approach to linear filtering and prediction problems. Transactions of the ASME, Journal of Basic Engineeering, vol.82, pp.34-45, 1960.

M. Steven and . Kay, Fundamentals of Statistical Signal Processing, Volume I: Estimation Theory, 1993.

H. Charles, G. Knapp, and . Carter, The generalized correlation method for estimation of time delay, IEEE Transactions on Acoustics, Speech, and Signal Processing, vol.4, issue.4, pp.320-327, 1976.

J. Kennedy and R. Eberhart, Particle swarm optimization, Proceedings of ICNN'95, International Conference on Neural Networks, pp.1942-1948, 1995.
DOI : 10.1109/ICNN.1995.488968

[. Kitagawa, Monte carlo filter and smoother for nongaussian nonlinear state space models, Journal of Computational and Graphical Statistics, vol.5, issue.1, pp.1-25, 1996.

S. Jun, R. Liu, and . Chen, Sequential monte carlo methods for dynamic systems, Journal of the American Statistical Association, vol.93, pp.1032-1044, 1998.

J. John, H. F. Leonard, and . Durrant-whyte, Directed Sonar Sensing for Mobile Robot Navigation, Kluwer, 1991.

]. N. Lev00 and . Levanon, Lowest gdop in 2-d scenarios. IEE proceedings - Radar, Sonar and Navigation, pp.149-155, 2000.

[. Li and V. P. Jilkov, Survey of maneuvering target tracking. part i: Dynamic models Particle filter with integrated voice activity detection for acoustic source tracking, IEEE Transactions on Aerospace and Electronic Systems EURASIP Journal on Advances in Signal Processing, vol.39, issue.4, pp.1333-13641, 2003.

. A. Eric, A. M. Lehmann, S. Johansson, and . Nordholm, Modeling of motion dynamics and its influence on the performance of a particle filter for acoustic speaker tracking, IEEE Workshop on Applications of Signal Processing to Audio and Acoustics, pp.98-102, 2007.

. Mathworks, Optimization Toolbox, for use with Matlab, User's Guide, Version 3, 2006.

M. [. Mckay and . Pachter, Geometry optimization for GPS navigation, Proceedings of the 36th IEEE Conference on Decision and Control, pp.4695-4699, 1997.
DOI : 10.1109/CDC.1997.649738

J. Neering, M. Bordier, and N. Ma¨?zima¨?zi, Optimal Passive Source Localization, 2007 International Conference on Sensor Technologies and Applications (SENSORCOMM 2007), 2007.
DOI : 10.1109/SENSORCOMM.2007.4394937

[. Neering, C. Fischer, M. Bordier, and N. Ma¨?zima¨?zi, Optimal sensor configuration for passive position estimation, 2008 IEEE/ION Position, Location and Navigation Symposium, pp.951-960, 2008.
DOI : 10.1109/PLANS.2008.4570037
URL : https://hal.archives-ouvertes.fr/hal-00505041

J. Person, Writing your own gps applications: Part 2. DeveloperFusion .com, 2005.

H. William, B. P. Press, S. A. Flannery, W. T. Teukolsky, and . Vetterling, Numerical Recipies in C: The Art of Scientific Computing, 2002.

]. A. Pie81 and . Pierce, Acoustics: An Introduction to its Physical Properties and Applications, 1981.

V. Daniel and . Rabinkin, Optimum Sensor Placement for Microphone Arrays, 1998.

. A. Francis, P. L. Reed, N. J. Feintuch, and . Bershad, Time delay estimation using the lms adaptive filter -static behavior, IEEE Transactions on Acoustics, Speech, and Signal Processing, issue.3, pp.29561-571, 1981.

R. Peter and . Roth, Effective measurements using digital signal analysis, IEEE Spectrum, vol.8, issue.4, pp.62-72, 1971.

]. D. Rub88 and . Rubin, Using the sir algorithm to simulate posterior distributions, Bayesian Statistics, pp.395-402, 1988.

J. O. Smith and J. S. Abel, Closed-form least-squares source location estimation from range-difference measurements, IEEE Transactions on Acoustics, Speech, and Signal Processing, vol.35, issue.12, pp.1661-1669, 1987.
DOI : 10.1109/TASSP.1987.1165089

O. Ralph and . Schmidt, Multiple emitter location and signal parameter estimation, IEEE Transactions on Antennas and Propagation, vol.34, issue.3, pp.276-280, 1986.

[. Sawada, R. Mukai, S. Araki, and S. Makino, Multiple source localization using independent component analysis, 2005 IEEE Antennas and Propagation Society International Symposium, 2005.
DOI : 10.1109/APS.2005.1552745

J. O. Smith, Digital audio resampling home page, 2008.

[. Strobel, T. Meier, and R. Rabenstein, Speaker localization using a steered filter-and-sum beamformer, Proc. Erlangen Workshop on Vision, Modeling, and Visualization, pp.195-202, 1999.

A. [. Schau and . Robinson, Passive source localization employing intersecting spherical surfaces from time-of-arrival differences, IEEE Transactions on Acoustics, Speech, and Signal Processing, vol.35, issue.8, pp.1223-1225, 1987.
DOI : 10.1109/TASSP.1987.1165266

J. Scheuing and B. Yang, Disambiguation of TDOA Estimates in Multi-Path Multi-Source Environments (DATEMM), 2006 IEEE International Conference on Acoustics Speed and Signal Processing Proceedings, pp.837-840, 2006.
DOI : 10.1109/ICASSP.2006.1661099

J. Scheuing and B. Yang, Efficient Synthesis of Approximately Consistent Graphs for Acoustic Multi-Source Localization, 2007 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '07, pp.501-504, 2007.
DOI : 10.1109/ICASSP.2007.366959

D. J. Torrieri, Statistical theory of passive location systems, IEEE Transactions on Aerospace and Electronic Systems, vol.20, pp.183-198, 1984.

J. Vermaark and A. Blake, Nonlinear filtering for speaker tracking in noisy and reverberant environments Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic State-Space Models, Proceedings of the IEEE ICASSP, pp.3021-3024, 2001.

R. Van-der-merwe, E. A. Wan, and S. I. Julier, Sigma-Point Kalman Filters for Nonlinear Estimation and Sensor-Fusion: Applications to Integrated Navigation, AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004.
DOI : 10.2514/6.2004-5120

. B. Darren, E. A. Ward, R. C. Lehmann, and . Williamson, Particle filtering algorithms for tracking an acoustic source in a reverberant environment, IEEE Transactions on Speech and Audio Processing, vol.11, issue.6, pp.826-836, 2003.

A. Eric, R. Wan, and . Van-der-merwe, Chapter 7: The unscented kalman filter, Kalman Filtering and Neural Networks, pp.221-280, 2001.

. Scheuing, Cramer-rao bound and optimum sensor array for source localization from time differences of arrival, Proceedings of the IEEE ICASSP, pp.961-964, 2005.

H. Zhang, Two-dimensional optimal sensor placement, IEEE Transactions on Systems, Man, and Cybernetics, vol.25, issue.5, pp.781-792, 1995.
DOI : 10.1109/21.376491

J. Zogg, Grundlagen der Satellitennavigation, 2006.