Date of Original Version

6-2014

Type

Conference Proceeding

Rights Management

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Abstract or Description

This paper presents an online algorithm for early detection of anomalies in robot execution, where the anomalies occur in a particular region of the robot's state space. Assuming that a model of normal execution is given, the algorithm detects regions of space where data significantly deviate from normal. It achieves this by focusing optimization over a fixed-parameter family of shapes to find the one among them that is most likely anomalous, and then using this region to decide whether execution is anomalous. Experiments using synthetic and real robot data support the effectiveness of the approach.

DOI

10.1109/ICRA.2014.6907342

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Published In

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014, 3358-3363.