RoBiGAN: A bidirectional Wasserstein GAN approach for online robot fault diagnosis via internal anomaly detection
Tristan Schnell,Katrin Bott,Lennart Puck,Timothée Buettner,Arne Roennau,Rüdiger Dillmann,Tristan Schnell,Katrin Bott,Lennart Puck,Timothée Buettner,Arne Roennau,Rüdiger Dillmann
Complex robots in challenging scenarios require constant monitoring of their state and adaptation of their behavior to ensure robustness, reliability and longevity. While known possible errors can be specifically surveilled, other prob-lems can be fully unforeseen, requiring detection systems able to identify novel faults. We detect possible faults as anomalies on various internal sensor data, uti...
