A Novel Approach for Outlier Detection and Robust Sensory Data Model Learning In the past few decades machine learning and data analysis have been having a huge growth and they have been applied in many different problems in the field of robotics. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of outliers has a huge impact on modelling the acquired data, resulting in inappropriate models. In this work a novel approach for outlier detection and rejection for inputoutput mapping in regression problems is presented. The robustness of the method is shown both through simulated data for linear and nonlinear regression, and real sensory data. Despite being validated by using artificial neural networks, the method can be generalized to any other regression method.

Robust Functional Regression for Outlier Detection In this paper we propose an outlier detection algorithm for temperature sensor data from jet engine tests. Effective identification of outliers would enable engine problems to be examined and resolved efficiently. Outlier detection in this data is challenging because a human controller determines the speed of the engine during each manoeuvre. This introduces variability which can mask abnormal behaviour in the engine response. We therefore suggest modelling the dependency between speed and temperature in the process of identifying abnormalities. The engine temperature has a delayed response with respect to the engine speed, which we will model using robust functional regression. We then apply functional depth with respect to the residuals to rank the samples and identify the outliers. The effectiveness of the outlier detection algorithm is shown in a simulation study. The algorithm is also applied to real engine data, and identifies samples that warrant further investigation.