{"id":"https://openalex.org/W3037813980","doi":"https://doi.org/10.5555/3398761.3398779","title":"HMMs for Anomaly Detection in Autonomous Robots","display_name":"HMMs for Anomaly Detection in Autonomous Robots","publication_year":2020,"publication_date":"2020-05-05","ids":{"openalex":"https://openalex.org/W3037813980","doi":"https://doi.org/10.5555/3398761.3398779","mag":"3037813980"},"language":"en","primary_location":{"id":"pmh:oai:air.unimi.it:2434/763104","is_oa":true,"landing_page_url":"http://hdl.handle.net/2434/763104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"type":"book-chapter","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2434/763104","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073895792","display_name":"Davide Azzalini","orcid":"https://orcid.org/0000-0003-0934-9885"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Azzalini","raw_affiliation_strings":[",Politecnico di Milano, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0934-9885","affiliations":[{"raw_affiliation_string":",Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078441040","display_name":"Alberto Castellini","orcid":"https://orcid.org/0000-0001-8420-0699"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Castellini","raw_affiliation_strings":["University of Verona; Verona Italy"],"raw_orcid":"https://orcid.org/0000-0001-8420-0699","affiliations":[{"raw_affiliation_string":"University of Verona; Verona Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020142519","display_name":"Matteo Luperto","orcid":"https://orcid.org/0000-0002-8976-2073"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Luperto","raw_affiliation_strings":["[Universit\u00e0 degli Studi di Milano, Milano, Italy]"],"raw_orcid":"https://orcid.org/0000-0002-8976-2073","affiliations":[{"raw_affiliation_string":"[Universit\u00e0 degli Studi di Milano, Milano, Italy]","institution_ids":["https://openalex.org/I189158943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Farinelli","raw_affiliation_strings":["University of Verona; Verona Italy"],"raw_orcid":"https://orcid.org/0000-0002-2592-5814","affiliations":[{"raw_affiliation_string":"University of Verona; Verona Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028729032","display_name":"Francesco Amigoni","orcid":"https://orcid.org/0000-0001-8146-6213"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Amigoni","raw_affiliation_strings":[",Politecnico di Milano, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8146-6213","affiliations":[{"raw_affiliation_string":",Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6701,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94185747,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"105","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9966999888420105,"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/T12761","display_name":"Data Stream Mining Techniques","score":0.9805999994277954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.7882323861122131},{"id":"https://openalex.org/keywords/hellinger-distance","display_name":"Hellinger distance","score":0.7340776324272156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6592605710029602},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.6453259587287903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6148819327354431},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5940899848937988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5931628942489624},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5725544691085815},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4611220061779022},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2190915048122406},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15182417631149292}],"concepts":[{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.7882323861122131},{"id":"https://openalex.org/C153024298","wikidata":"https://www.wikidata.org/wiki/Q3030678","display_name":"Hellinger distance","level":2,"score":0.7340776324272156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6592605710029602},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.6453259587287903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6148819327354431},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5940899848937988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5931628942489624},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5725544691085815},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4611220061779022},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2190915048122406},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15182417631149292},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:air.unimi.it:2434/763104","is_oa":true,"landing_page_url":"http://hdl.handle.net/2434/763104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},{"id":"mag:3037813980","is_oa":false,"landing_page_url":"https://air.unimi.it/bitstream/2434/763104/2/3398761.3398779.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306417597","display_name":"Adaptive Agents and Multi-Agents Systems","issn_l":"1548-8403","issn":["1548-8403"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":"Adaptive Agents and Multi-Agents Systems","raw_type":null}],"best_oa_location":{"id":"pmh:oai:air.unimi.it:2434/763104","is_oa":true,"landing_page_url":"http://hdl.handle.net/2434/763104","pdf_url":null,"source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2399921532","https://openalex.org/W2963134305","https://openalex.org/W3197842443","https://openalex.org/W2388434230","https://openalex.org/W2530123672","https://openalex.org/W3202227263","https://openalex.org/W2574242825","https://openalex.org/W1999319859","https://openalex.org/W3090487316","https://openalex.org/W2131236951","https://openalex.org/W2613648706","https://openalex.org/W2120017582","https://openalex.org/W2163818245","https://openalex.org/W2017695243","https://openalex.org/W3201163625","https://openalex.org/W2031101993","https://openalex.org/W2096256978","https://openalex.org/W2057871540","https://openalex.org/W3037870336","https://openalex.org/W2886086764"],"abstract_inverted_index":{"Detection":[0],"of":[1,26,62,86,111,138,152,164,171,207,215],"anomalies":[2],"and":[3,18,28,71,118,147,162,185],"faults":[4],"is":[5,55,79],"a":[6,63,96,115,128,136],"key":[7],"element":[8],"for":[9,37,91,98,130,189],"long-term":[10],"robot":[11,64],"autonomy,":[12],"because,":[13],"together":[14],"with":[15,182],"subsequent":[16],"diagnosis":[17],"recovery,":[19],"allows":[20],"to":[21,56,72,219],"reach":[22],"the":[23,58,76,81,87,104,108,119,139,153,201,204],"required":[24],"levels":[25],"robustness":[27],"persistency.":[29],"In":[30,194],"this":[31],"paper,":[32],"we":[33],"propose":[34],"an":[35],"approach":[36,197],"detecting":[38],"anomalous":[39,221],"behaviors":[40,222],"in":[41,114,174,223],"autonomous":[42],"robots":[43,188],"starting":[44],"from":[45,80],"data":[46],"collected":[47],"during":[48],"their":[49],"routine":[50],"operations.":[51],"The":[52,150,213],"main":[53],"idea":[54],"model":[57],"nominal":[59,82,121,146],"(expected)":[60],"behavior":[61,78],"system":[65],"using":[66,84],"Hidden":[67],"Markov":[68],"Models":[69],"(HMMs)":[70],"evaluate":[73],"how":[74],"far":[75],"observed":[77,148],"one":[83],"variants":[85],"Hellinger":[88,105,140,154],"distance":[89,106,141,155],"adopted":[90],"our":[92,196,216],"purposes.":[93],"We":[94,125],"present":[95,127],"method":[97,129,218],"online":[99,209],"anomaly":[100,132,210],"detection":[101,133,160,211],"that":[102,134],"computes":[103,135],"between":[107,142],"probability":[109,123],"distribution":[110],"observations":[112],"made":[113],"sliding":[116],"window":[117],"corresponding":[120],"emission":[122],"distribution.":[124],"also":[126],"offline":[131,217],"variant":[137],"two":[143,175],"HMMs":[144],"representing":[145],"behaviors.":[149],"use":[151],"positively":[156],"impacts":[157],"on":[158],"both":[159],"performance":[161],"interpretability":[163],"detected":[165],"anomalies,":[166],"as":[167],"shown":[168],"by":[169,199],"results":[170],"experiments":[172],"performed":[173],"real-world":[176,224],"application":[177],"domains,":[178],"namely,":[179],"water":[180],"monitoring":[181],"aquatic":[183],"drones":[184],"socially":[186],"assistive":[187],"elders":[190],"living":[191],"at":[192],"home.":[193],"particular,":[195],"improves":[198],"6%":[200],"area":[202],"under":[203],"ROC":[205],"curve":[206],"standard":[208],"methods.":[212],"capabilities":[214],"discriminate":[220],"applications":[225],"are":[226],"statistically":[227],"proved.":[228]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2020-07-02T00:00:00"}