A Clustering Extension of HUEPs for the Analysis of Performance Anomalies in Robots

Errors in Cyber-Physical Systems present a major problem given the current state of technological complexity. Self-diagnosis can contribute to address it, being the standpoint of the present paper. Hence, an application of exploratory Machine Learning models to assess the functioning of robot software in order to identify anomalies that lead to low performance is proposed. More precisely, Hybrid Unsupervised Exploratory Plots (HUEPs) are extended through density-based clustering techniques, that are applied together with unsupervised exploratory projection models. As a result, intuitive and informative visualizations of software performance are obtained, supporting the monitoring and anomaly detection tasks. The proposed clustering extension of HUEPs is thoroughly validated on a massive and up-to-date open dataset, obtaining promising results.