Robot hearing system is becoming an important topic due to the increasing number of field robots in uncertain environments. This study discusses what a hearing system means to a robot and why it is important. In particular, the hardware design principles are introduced with the example of robotaxi, on which exterior microphone arrays are used for detection of siren and other abnormal sound events. After that, a preliminary robot hearing software design framework is developed based on the taxonomy of modern probabilistic robotics as a part of decision processes.

翻译：机器人听觉系统正随着不确定环境中现场机器人数量的增加而成为一个重要议题。本研究探讨了听觉系统对机器人的意义及其重要性。具体而言，以自动驾驶出租车为例介绍了硬件设计原则，该车辆使用外部麦克风阵列检测警笛及其他异常声音事件。随后，基于现代概率机器人学的分类体系，作为决策过程的一部分，初步构建了机器人听觉软件设计框架。