An Experimental Comparison of Anomaly Detection Methods for Collaborative Robot Manipulators

Graabæk, Søren Goddiksen; Ancker, Emil Vincent; Fugl, Andreas Rune; Christensen, Anders Lyhne

doi:10.1109/access.2023.3289068

Cited by 6 publications

(2 citation statements)

References 43 publications

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“…Such unknown faults are usually interpreted as “anomaly” in the context of ARMs. However, Graabæk et al [ 27 ] suggests that anomalies can be symptoms of faults, implying that both known and unknown faults can be a cause of an anomaly. Moreover, we propose that the term anomaly has a meaning beyond the undesired system behaviour caused by faults and that also encapsulates the environmental impacts independent of the system and hence cannot be named as faults.…”

Section: What Are Anomalies and How Do They Differ From Faults?mentioning

confidence: 99%

Anomaly Detection Methods in Autonomous Robotic Missions

Chirayil Nandakumar,

Mitchell,

Erden

et al. 2024

Sensors

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Since 2015, there has been an increase in articles on anomaly detection in robotic systems, reflecting its growing importance in improving the robustness and reliability of the increasingly utilized autonomous robots. This review paper investigates the literature on the detection of anomalies in Autonomous Robotic Missions (ARMs). It reveals different perspectives on anomaly and juxtaposition to fault detection. To reach a consensus, we infer a unified understanding of anomalies that encapsulate their various characteristics observed in ARMs and propose a classification of anomalies in terms of spatial, temporal, and spatiotemporal elements based on their fundamental features. Further, the paper discusses the implications of the proposed unified understanding and classification in ARMs and provides future directions. We envisage a study surrounding the specific use of the term anomaly, and methods for their detection could contribute to and accelerate the research and development of a universal anomaly detection system for ARMs.

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Section: What Are Anomalies and How Do They Differ From Faults?mentioning

confidence: 99%

Anomaly Detection Methods in Autonomous Robotic Missions

Chirayil Nandakumar,

Mitchell,

Erden

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…Such unknown faults are usually interpreted as "anomaly" in the context of ARMs. However, Graabaek et al [27] suggests that anomalies can be symptoms of faults, implying that both known and unknown faults can be a cause of an anomaly. Moreover, we propose that the term anomaly has a meaning beyond the undesired system behaviour caused by faults and that also encapsulates the environmental impacts independent of the system and hence cannot be named as faults.…”

Section: What Are Anomalies and How Do They Differ From Faults?mentioning

confidence: 99%