A computer-implemented method, system, and computer program product are provided for anomaly detection. The method includes receiving, by a processor, sensor data from a plurality of sensors in a system. The method also includes generating, by the processor, a relationship model based on the sensor data. The method additionally includes updating, by the processor, the relationship model with new sensor data. The method further includes identifying, by the processor, an anomaly based on a fused single-variant time series fitness score in the relationship model. The method also includes controlling an operation of a processor-based machine to change a state of the processor-based machine, responsive to the anomaly.