Unsupervised Maneuver-Aware Acoustic Fault Detection for Autonomous Drones

arXiv:2610.10517 · cs.SD, cs.SY, eess.SY · Submitted 2026-10-07 · Read on arXiv

cs.SD, cs.SY, eess.SY

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• AUC — 20× in this paper · explained in 2 episodes
• Reconstruction Error — 15× in this paper · explained in 2 episodes
• Core — 5× in this paper · explained in 2 episodes
• Latent Representation — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Conditional Batch Normalization — 2× in this paper
• False Negative Rate — 2× in this paper
• Feature Extraction — 2× in this paper · explained in 2 episodes
• Quantization — 2× in this paper · explained in 12 episodes
• Two-Stage Architecture — 2× in this paper · explained in 2 episodes
• American Control Conference — 1× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• False Positive Rate — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Long Short-Term Memory — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes
• Mean Squared Error — 1× in this paper
• Non-stationarity — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Short-Time Fourier Transform — 1× in this paper
• Signal-to-noise ratio (SNR) — 1× in this paper · explained in 2 episodes
• Support Vector Machine — 1× in this paper
• Transfer Learning — 1× in this paper · explained in 10 episodes

Sources

• Selective review of offline change point detection methods
• Sound-based drone fault classification using multitask learning
• Noise2Noise: Learning Image Restoration without Clean Data

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