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  "abstract": "A method for detecting anomalies in a swarm system comprises: collecting first movement data from multiple vehicles moving as a swarm in a first scenario; generating first training data based on positioning data and second training data based on multi-channel inertial sensor data from the first movement data; training a first learning model using the first training data and multiple second learning models using the second training data for each vehicle; receiving real-time second movement data from vehicles moving as a swarm in a second scenario; generating first input data based on positioning data from the second movement data; inputting the first input data into the first learning model to detect abnormal vehicles in real-time; generating second input data for abnormal vehicles based on inertial sensor data from the second movement data; and inputting the second input data into the corresponding second learning model to identify abnormal channels in the inertial measurement unit of abnormal vehicles.",
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  "title": "Method and apparatus for anomaly detection for individual vehicles in swarm system",
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