NDLI: Detecting anomalies in unmanned vehicles using the Mahalanobis distance

Content Provider	IEEE Xplore Digital Library
Author	Lin, R. Khalastchi, E. Kaminka, G.A.
Copyright Year	2010
Description	Author affiliation: The MAVERICK Group, Computer Science Department, Bar-Ilan University, Ramat-Gan, Israel 52900 (Lin, R.; Khalastchi, E.; Kaminka, G.A.)
Abstract	The use of unmanned autonomous vehicles is becoming more and more significant in recent years. The fact that the vehicles are unmanned (whether autonomous or not), can lead to greater difficulties in identifying failure and anomalous states, since the operator cannot rely on its own body perceptions to identify failures. Moreover, as the autonomy of unmanned vehicles increases, it becomes more difficult for operators to monitor them closely, and this further exacerbates the difficulty of identifying anomalous states, in a timely manner. Model-based diagnosis and fault-detection systems have been proposed to recognize failures. However, these rely on the capabilities of the underlying model, which necessarily abstracts away from the physical reality of the robot. In this paper we propose a novel, model-free, approach for detecting anomalies in unmanned autonomous vehicles, based on their sensor readings (internal and external). Experiments conducted on Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) demonstrate the efficacy of the approach by detecting the vehicles deviations from nominal behavior.
Starting Page	3038
Ending Page	3044
File Size	989593
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509781
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle detection Unmanned aerial vehicles Remotely operated vehicles Mobile robots Land vehicles Condition monitoring Fault diagnosis Abstracts Robot sensing systems Road vehicles
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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