Adaptive Fault Tolerance: Is ROS a Relevant Executive Support ?
Résumé
Every system evolves in operation. A system that remains dependable when facing changes (new threats, failures, updates) is called resilient. We present advantages of Component-Based Software Engineering technologies for tackling a crucial aspect of resilient computing, namely the on-line adaptation of fault tolerance mechanisms. Then we show how this approach can be implemented on ROS, presently used for robotic and automotive applications, e.g. ADAS. We give some implementation details and result of different experiments to validate the solution. We finally report the lessons learned and the future work targeting resilient computing for automotive applications.
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DSN-Student-Forum_#4_Adaptive-Fault-Tolerance-Is-ROS-a-Relevant-Executive-Support.pdf (260.69 Ko)
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