A hybrid approach for fault detection in autonomous physical agents

Eliahu Khalastchi, Meir Kalech, Lior Rokach

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

One of the challenges of fault detection in the domain of autonomous physical agents (or Robots) is the handling of unclassified data, meaning, most data sets are not recognized as normal or faulty. This fact makes it very challenging to use collected data as a training set such that learning algorithms would produce a successful fault detection model. Traditionally unsupervised algorithms try to address this challenge. In this paper we present a hybrid approach that combines unsupervised and supervised methods. An unsupervised approach is utilized for classifying a training set, and then by a standard supervised algorithm we build a fault detection model that is much more accurate than the original unsupervised approach. We show promising results on simulated and real world domains.

Original languageEnglish
Title of host publication13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages941-948
Number of pages8
ISBN (Electronic)9781634391313
StatePublished - 1 Jan 2014
Event13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014 - Paris, France
Duration: 5 May 20149 May 2014

Publication series

Name13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
Volume2

Conference

Conference13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
Country/TerritoryFrance
CityParis
Period5/05/149/05/14

Keywords

  • Fault detection
  • Model-based diagnosis
  • Robotics
  • UAV

ASJC Scopus subject areas

  • Artificial Intelligence

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