Towards Adaptive Fault Tolerance: From a Component-Based Approach to ROS

Michaël Lauer (1) , Matthieu Amy (1) , William Excoffon (1) , Matthieu Roy (1) , Miruna Stoicescu (2)

1 LAAS-TSF - Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique
2 ESOC - European Space Operations Center

A system that remains dependable when facing changes (new threats, failures, updates) is resilient. In this paper, we report on an approach taking advantage of Component Based Software Engineering technologies for tackling a crucial aspect of resilient computing, namely the on-line adaptation of fault tolerance mechanisms. The second part of this paper shows how this approach can be implemented on ROS that is presently used for implementing automotive applications, e.g. ADAS. We illustrate the mapping of ideal components to ROS components and give implementation details of a fault tolerance design pattern that is adaptive at runtime. We finally draw the lessons learnt from our first experiments.

Mots clés: fault tolerance; on-line adaptation; CBSE; ROS

Domaines: Systèmes embarqués; Calcul parallèle, distribué et partagé [cs.DC]

Michaël Lauer, Matthieu Amy, William Excoffon, Matthieu Roy, Miruna Stoicescu. Towards Adaptive Fault Tolerance: From a Component-Based Approach to ROS. CARS 2015 - Critical Automotive applications: Robustness & Safety, Sep 2015, Paris, France. ⟨hal-01193039⟩