Detection of Anomalous Behavior in Robot Systems Based on Machine Learning

摘要

Ensuring the safe and reliable operation of robotic systems is paramount to prevent potential disasters and safeguard human well-being. Despite rigorous design and engineering practices, these systems can still experience malfunctions, leading to safety risks. In this study, we present a machine learning-based approach for detecting anomalies in system logs to enhance the safety and reliability of robotic systems. We collected logs from two distinct scenarios using CoppeliaSim and comparatively evaluated several machine learning models, including Logistic Regression (LR), Support Vector Machine (SVM), and an Autoencoder. Our system was evaluated in a quadcopter context (Context 1) and a Pioneer robot context (Context 2). Results showed that while LR demonstrated superior performance in Context 1, the Autoencoder model proved to be the most effective in Context 2. This highlights that the optimal model choice is context-dependent, likely due to the varying complexity of anomalies across different robotic platforms. This research underscores the value of a comparative approach and demonstrates the particular strengths of autoencoders for detecting complex anomalies in robotic systems.