---
publication_id: "OT-2026-000000101"
title: "Method and apparatus for anomaly detection for individual vehicles in swarm system"
published_at: "2026-09-15T19:02:29.448890Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000101"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05d1/86"
  - "g05d2101/15"
  - "g05d2109/20"
  - "g05d2111/52"
---

# Method and apparatus for anomaly detection for individual vehicles in swarm system

## 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.