{"id":"https://openalex.org/W4313018144","doi":"https://doi.org/10.1109/iros47612.2022.9981446","title":"Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments","display_name":"Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313018144","doi":"https://doi.org/10.1109/iros47612.2022.9981446"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981446","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044854758","display_name":"Lennart Puck","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lennart Puck","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069947890","display_name":"Maximilian Schik","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Schik","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056517421","display_name":"Tristan Schnell","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tristan Schnell","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053896000","display_name":"Timoth\u00e9e Buettner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timothee Buettner","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113547315","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R\u00fcdiger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Department of Interactive Diagnosis and Service Systems (IDS),Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2076,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45025179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10400","display_name":"Network Security and Intrusion Detection","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7600676417350769},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.7498176693916321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6216131448745728},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5957213640213013},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5284535884857178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5267210006713867},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.453381210565567},{"id":"https://openalex.org/keywords/anomaly","display_name":"Anomaly (physics)","score":0.45246222615242004},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44883203506469727}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7600676417350769},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.7498176693916321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6216131448745728},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5957213640213013},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5284535884857178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5267210006713867},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.453381210565567},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.45246222615242004},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44883203506469727},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981446","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2014235936","https://openalex.org/W2037803129","https://openalex.org/W2052391272","https://openalex.org/W2115627867","https://openalex.org/W2129905273","https://openalex.org/W2165505694","https://openalex.org/W2169139688","https://openalex.org/W2218081593","https://openalex.org/W2319961868","https://openalex.org/W2395028020","https://openalex.org/W2621614835","https://openalex.org/W2739253758","https://openalex.org/W2783391671","https://openalex.org/W2933610837","https://openalex.org/W2964810917","https://openalex.org/W2968958174","https://openalex.org/W2970602317","https://openalex.org/W3000916453","https://openalex.org/W3024202862","https://openalex.org/W3091770126","https://openalex.org/W4206097546","https://openalex.org/W4239808474","https://openalex.org/W4250058668","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2806741695","https://openalex.org/W4290647774","https://openalex.org/W3189286258","https://openalex.org/W3207797160","https://openalex.org/W3210364259","https://openalex.org/W4300558037","https://openalex.org/W2912112202","https://openalex.org/W2667207928","https://openalex.org/W4377864969","https://openalex.org/W3030345572"],"abstract_inverted_index":{"Exploring":[0],"unknown":[1],"environments,":[2],"such":[3],"as":[4],"caves":[5],"or":[6,22,74],"planetary":[7],"surfaces,":[8],"requires":[9],"a":[10,77,88,124,157,168],"quick":[11],"understanding":[12],"of":[13,54,87,117,121,151,160],"the":[14,48,64,85,101,108,144,177],"surroundings.":[15,66],"Beforehand,":[16],"only":[17],"aerial":[18,75],"footage":[19],"from":[20,24,70],"satellites":[21],"images":[23],"previous":[25],"missions":[26],"might":[27],"be":[28,82,94,105],"available.":[29],"The":[30,50,90,127,154],"proposed":[31,128],"ensemble":[32,109],"based":[33],"anomaly":[34,79],"detection":[35,80],"framework":[36],"utilizes":[37],"previously":[38],"gained":[39,46],"knowledge":[40],"and":[41,119,132,172],"incorporates":[42],"it":[43],"with":[44],"insights":[45],"during":[47,100],"mission.":[49,89],"modular":[51],"system":[52,91,129],"consists":[53],"different":[55,141,149],"networks":[56,99],"which":[57,103],"are":[58],"combined":[59],"to":[60,163],"determine":[61],"anomalies":[62],"in":[63,140],"current":[65],"By":[67],"utilizing":[68],"data":[69],"other":[71],"missions,":[72],"simulations":[73],"photos,":[76],"precise":[78],"can":[81,92,104],"achieved":[83],"at":[84,110],"start":[86],"further":[93],"improved":[95],"by":[96],"training":[97,120],"new":[98],"mission,":[102],"incorporated":[106],"into":[107],"runtime.":[111],"This":[112],"allows":[113],"for":[114,148],"synchronous":[115],"execution":[116],"mission":[118],"models":[122],"on":[123,134,176],"base":[125],"station.":[126],"is":[130,146],"tested":[131],"evaluated":[133],"an":[135],"ANYmal":[136],"C":[137],"walking":[138],"robot":[139],"scenarios,":[142],"however":[143],"approach":[145],"applicable":[147],"kinds":[150],"mobile":[152,178],"robots.":[153],"results":[155],"show":[156],"clear":[158],"improvement":[159],"ensembles":[161],"compared":[162],"individual":[164],"networks,":[165],"while":[166],"keeping":[167],"small":[169],"memory":[170],"footprint":[171],"low":[173],"inference":[174],"time":[175],"system.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
