# A Framework for Bluetooth-Based Real-Time Audio Data Acquisition in Mobile Robotics
## 8 Conclusions  
This paper presents a comprehensive theoretical and practical framework for concurrent real-time audio acquisition and motor control in resource-constrained mobile robotics, addressing fundamental challenges through novel algorithmic and architectural innovations. The dual-thread processing model successfully partitions computational resources between time-sensitive control tasks and bandwidth-intensive audio processing, ensuring that neither system adversely affects the other. This architecture, combined with the adaptive audio compression algorithm and noise attenuation techniques, enables the capture of meaningful environmental audio data even in challenging acoustic environments and during platform movement. Comprehensive empirical testing under a variety of operating conditions validates these observations; the system has been shown capable of commanding with latencies under 150 ms and audio packet delivery rates of \(>\)90% even at the limits of its operating envelope. The platform proved power efficient and its battery life is enough to be practical in field applications, with simultaneous operation (\(>\)4 h) available from a single battery charge. The theoretical framework presented establishes new foundations for mobile acoustic sensing through three core innovations: integrated audio-mobility processing, adaptive real-time compression, and mathematically optimized concurrent architectures. These contributions advance the field beyond previous limitations that treated audio capture and mobility as mutually exclusive requirements. The theoretical framework and practical implementations discussed here serve as an enabling foundation for further research and development in this emerging field. By solving the core problem of resource-constrained mobile audio sensing, our work lays the groundwork for more complex systems with multiple microphones, on-device processing, machine learning integration, autonomous exploration, and other rich features. Future work should focus on extending these theoretical foundations to multi-agent systems, incorporating machine learning for adaptive optimization, and exploring application-specific optimizations for environmental monitoring, surveillance, and autonomous exploration domains. In conclusion, the Sound Recording Rover framework demonstrates that effective acoustic sensing and responsive mobility can coexist on affordable, accessible platforms, enabling new applications and research directions at the intersection of robotics, audio processing, and environmental monitoring. This integration of sensing modalities represents an important step toward more capable and versatile mobile robotic systems that can perceive and interact with their environments through multiple complementary channels. Conceptualization, S.G. and U.M. ; methodology, S.G.; software, S.G.; validation, S.G., U.M., and A.K.M.Z.H. ; formal analysis, S.G. and A.J.A.A.-G.; investigation, S.G.; resources, U.M. ; data curation, S.G.; writing--original draft preparation, S.G.; writing--review and editing, U.M., A.K.M.Z.H., and A.J.A.A.-G.; visualization, S.G.; supervision, U.M. and A.K.M.Z.H. ; project administration, A.K.M.Z.H. ; funding acquisition, A.K.M.Z.H. All authors have read and agreed to the published version of the manuscript. This work was supported by institutional resources from Poormina Institute of Engineering and Technology. Also, this work is partially funded by the Center for Research and Innovation Management (CRIM), Universiti Teknikal Malaysia Melaka (UTeM) with the Short-Term Grant Scheme (PJP) with grant No. PJP/2024/FTKEK /PERINTIS/SA0017. The data that support the findings of this study, including the source code for the ESP32 firmware, Android application, and experimental results, are available from the corresponding author upon reasonable request. The hardware design specifications and implementation details are fully described within the article to enable replication.