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A hierarchical fault tolerant architecture for an autonomous robot

Abstract : This paper presents a generic approach to specify a fault tolerant robot controller, and its implementation and validation with ROS and Gazebo. The main idea is to implement a fault tolerance strategy using a fault tree and an ordered set of recovery modules. A fault injection campaign has been carried out with a mobile autonomous robot for airport inspection using simulation with Gazebo and ROS. This successful experiment implements a safety-first strategy.
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Contributor : Jérémie Guiochet <>
Submitted on : Wednesday, April 29, 2020 - 5:19:04 PM
Last modification on : Thursday, June 10, 2021 - 3:01:29 AM


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Anthony Favier, Antonin Messioux, Jérémie Guiochet, Jean-Charles Fabre, Charles Lesire. A hierarchical fault tolerant architecture for an autonomous robot. 6th Intern. Workshop on ​Safety and Security of Intelligent Vehicles (SSIV) at IEEE/IFIP Intern. Conf. on Dependable Systems and Networks (DSN), Jun 2020, Valence, Spain. ⟨10.1109/DSN-W50199.2020.00031⟩. ⟨hal-02558604⟩



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