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. <EOS>