  Knowing the geometry of a space is desirable for many applications, e.g.
sound source localization, sound field reproduction or auralization. In
circumstances where only acoustic signals can be obtained, estimating the
geometry of a room is a challenging proposition. Existing methods have been
proposed to reconstruct a room from the room impulse responses (RIRs). However,
the sound source and microphones must be deployed in a feasible region of the
room for it to work, which is impractical when the room is unknown. This work
propose to employ a robot equipped with a sound source and four acoustic
sensors, to follow a proposed path planning strategy to moves around the room
to collect first image sources for room geometry estimation. The strategy can
effectively drives the robot from a random initial location through the room so
that the room geometry is guaranteed to be revealed. Effectiveness of the
proposed approach is extensively validated in a synthetic environment, where
the results obtained are highly promising.
