An audio system, comprising: a speaker array comprising two or more speakers, wherein the speaker array is a wearable beamforming speaker array; one or more sensors configured to produce sensor data; and a processor coupled to the one or more sensors and the speaker array and configured to: determine, based on the sensor data, for each speaker (410a-g) included in the speaker array, a predicted future position of the speaker relative to at least one of a target location and one or more other speakers included in the speaker array, wherein the predicted future position is based on movement performed by a user wearing the speaker array, determine, based on the predicted future positions of the speakers (410a-g) included in the speaker array, a first set of directional sound components, wherein each directional sound component included in the first set of directional sound components is defined between a corresponding speaker and the target location, and generate a first set of speaker signals for the speaker array based on the first set of directional sound components, wherein, when outputted by the speaker array, the first set of speaker signals produces an acoustic field at the target location. a speaker array comprising two or more speakers, wherein the speaker array is a wearable beamforming speaker array; one or more sensors configured to produce sensor data; and a processor coupled to the one or more sensors and the speaker array and configured to: determine, based on the sensor data, for each speaker (410a-g) included in the speaker array, a predicted future position of the speaker relative to at least one of a target location and one or more other speakers included in the speaker array, wherein the predicted future position is based on movement performed by a user wearing the speaker array, determine, based on the predicted future positions of the speakers (410a-g) included in the speaker array, a first set of directional sound components, wherein each directional sound component included in the first set of directional sound components is defined between a corresponding speaker and the target location, and generate a first set of speaker signals for the speaker array based on the first set of directional sound components, wherein, when outputted by the speaker array, the first set of speaker signals produces an acoustic field at the target location. determine, based on the sensor data, for each speaker (410a-g) included in the speaker array, a predicted future position of the speaker relative to at least one of a target location and one or more other speakers included in the speaker array, wherein the predicted future position is based on movement performed by a user wearing the speaker array, determine, based on the predicted future positions of the speakers (410a-g) included in the speaker array, a first set of directional sound components, wherein each directional sound component included in the first set of directional sound components is defined between a corresponding speaker and the target location, and generate a first set of speaker signals for the speaker array based on the first set of directional sound components, wherein, when outputted by the speaker array, the first set of speaker signals produces an acoustic field at the target location.