{"id":"https://openalex.org/W7136170231","doi":"https://doi.org/10.3390/robotics15030061","title":"Integrating Convolutional Neural Networks with Finite-State Machines for Fault Detection in Mobile Robots","display_name":"Integrating Convolutional Neural Networks with Finite-State Machines for Fault Detection in Mobile Robots","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7136170231","doi":"https://doi.org/10.3390/robotics15030061"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15030061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030061","pdf_url":"https://www.mdpi.com/2218-6581/15/3/61/pdf?version=1773673285","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/15/3/61/pdf?version=1773673285","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030143625","display_name":"Nilachakra Dash","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139271","display_name":"GIET University","ror":"https://ror.org/051f2wp73","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210139271"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Nilachakra Dash","raw_affiliation_strings":["Department of Computer Science and Engineering, GIET University, Gunupur 765022, India"],"raw_orcid":"https://orcid.org/0009-0001-6698-7165","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, GIET University, Gunupur 765022, India","institution_ids":["https://openalex.org/I4210139271"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101435163","display_name":"Bandita Sahu","orcid":"https://orcid.org/0000-0001-9746-5303"},"institutions":[{"id":"https://openalex.org/I67357951","display_name":"KIIT University","ror":"https://ror.org/00k8zt527","country_code":"IN","type":"education","lineage":["https://openalex.org/I67357951"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Bandita Sahu","raw_affiliation_strings":["School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"],"raw_orcid":"https://orcid.org/0000-0001-9746-5303","affiliations":[{"raw_affiliation_string":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India","institution_ids":["https://openalex.org/I67357951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042836546","display_name":"Kakita Murali Gopal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139271","display_name":"GIET University","ror":"https://ror.org/051f2wp73","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210139271"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kakita Murali Gopal","raw_affiliation_strings":["Department of Computer Science and Engineering, GIET University, Gunupur 765022, India"],"raw_orcid":"https://orcid.org/0000-0001-9982-7136","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, GIET University, Gunupur 765022, India","institution_ids":["https://openalex.org/I4210139271"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129449348","display_name":"Indrajeet Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I67357951","display_name":"KIIT University","ror":"https://ror.org/00k8zt527","country_code":"IN","type":"education","lineage":["https://openalex.org/I67357951"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Indrajeet Kumar","raw_affiliation_strings":["School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India","institution_ids":["https://openalex.org/I67357951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002607507","display_name":"Ramesh K. Sahoo","orcid":"https://orcid.org/0000-0001-5623-8446"},"institutions":[{"id":"https://openalex.org/I67357951","display_name":"KIIT University","ror":"https://ror.org/00k8zt527","country_code":"IN","type":"education","lineage":["https://openalex.org/I67357951"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ramesh Kumar Sahoo","raw_affiliation_strings":["School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"],"raw_orcid":"https://orcid.org/0000-0001-5623-8446","affiliations":[{"raw_affiliation_string":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India","institution_ids":["https://openalex.org/I67357951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101435163"],"corresponding_institution_ids":["https://openalex.org/I67357951"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57320329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"3","first_page":"61","last_page":"61"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.2694000005722046,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.2694000005722046,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.12790000438690186,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.08900000154972076,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7263000011444092},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7095000147819519},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5888000130653381},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5246999859809875},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.5162000060081482},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.4690999984741211},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4374000132083893}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7263000011444092},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7095000147819519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5978999733924866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5924999713897705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5246999859809875},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.4690999984741211},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4374000132083893},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4171000123023987},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38989999890327454},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35670000314712524},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34880000352859497},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27570000290870667},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15030061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030061","pdf_url":"https://www.mdpi.com/2218-6581/15/3/61/pdf?version=1773673285","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ded0225fb56b4aa9992aeb969c8d21ef","is_oa":true,"landing_page_url":"https://doaj.org/article/ded0225fb56b4aa9992aeb969c8d21ef","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 3, p 61 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15030061","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030061","pdf_url":"https://www.mdpi.com/2218-6581/15/3/61/pdf?version=1773673285","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.7018634676933289,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7136170231.pdf","grobid_xml":"https://content.openalex.org/works/W7136170231.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"highlights":[2],"a":[3,11,17,42,79,90],"communal":[4],"fault":[5,61,68,123],"detection":[6],"and":[7,30,62,70,82,102],"isolation":[8],"framework":[9,46],"integrating":[10],"convolutional":[12],"neural":[13],"network":[14],"(CNN)":[15],"with":[16,128],"finite-state":[18],"machine":[19],"(FSM).":[20],"The":[21,45,72,93],"proposed":[22,73],"concepts":[23],"ensure":[24],"state-based":[25],"controlled":[26],"discriminate":[27],"pattern":[28],"recognition":[29],"enable":[31],"the":[32,38,48,53,86,112],"diagnosis":[33,69],"of":[34,60,98,108],"different":[35,58,64,118],"anomalies":[36],"in":[37,41,89,100,111],"mobile":[39],"robot":[40,88],"multi-robot":[43,91,113],"environment.":[44,114],"processes":[47],"time-series":[49],"sensor":[50],"data":[51],"through":[52],"convolution":[54],"layer":[55],"upon":[56],"experiencing":[57],"types":[59],"governs":[63],"states":[65],"based":[66],"on":[67,117],"recovery.":[71],"concept":[74],"has":[75],"been":[76],"validated":[77],"using":[78],"Python":[80],"3.11":[81],"Webot":[83],"environment":[84],"featuring":[85],"shrimp":[87],"arena.":[92],"model":[94],"obtained":[95],"an":[96],"accuracy":[97],"97%":[99],"identifying":[101],"classifying":[103],"faults,":[104],"enabling":[105],"automated":[106],"recovery":[107],"faulty":[109],"robots":[110],"Experiments":[115],"conducted":[116],"simulators":[119],"demonstrate":[120],"that":[121],"effective":[122],"management":[124],"can":[125],"be":[126],"achieved":[127],"low":[129],"training":[130],"loss.":[131]},"counts_by_year":[],"updated_date":"2026-03-18T06:27:02.140700","created_date":"2026-03-17T00:00:00"}
