A system configured to create a flexible home theater group using a variety of different devices. To enable the home theater group to generate synchronized audio, the system performs device localization to generate map data, which represents locations of devices in a device map. The map data may include a listening position and/or television, such that the map data is centered on the listening position with the television along a vertical axis. To generate the map data, the system selects a primary device that determines calibration data indicating a sequence when each of the individual devices generates playback audio. The primary device sends the calibration data to secondary devices and each device generates playback audio at a designated time in the sequence, enabling other devices to capture the output audio and determine a relative position of the playback device (for example using angle of arrival and distance information).