Engineering Adaptive Fault-Tolerance Mechanisms for Resilient Computing on ROS

Lauer, Michaël; Amy, Matthieu; Fabre, Jean-Charles; Roy, Matthieu; Excoffon, William; Stoicescu, Miruna

doi:10.1109/hase.2016.30

Cited by 14 publications

(6 citation statements)

References 13 publications

(19 reference statements)

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“…This framework is also of interest to compose FTMs on a case-by-case basis without any impact on the functional software. More details can be found in [14]. We are convinced that AFT is essential for a safe management of over-the-air updates of ADAS.…”

Section: Conclusion and Prospectivesmentioning

confidence: 95%

Towards Adaptive Fault Tolerance on ROS for Advanced Driver Assistance Systems

Amy

Fabre

Lauer

2017

2017 47th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W)

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The use of over-the-air updates has attracted very much interest these last few years with the software-intensive development of embedded systems in the car industry. The development of autonomous driving and ADAS (Advanced Driver Assistance Systems) renders over-the-air updates mandatory, for both user satisfaction and economic reasons. How to make sure that remote updates of critical ADAS do not have an impact on safety? This is the question we tackle in our work with a major car manufacturer. This paper is a progress report. We summarize our approach involving AFT (Adaptive Fault Tolerance) implemented on ROS (Robot Operating System), describe the simulation platform we have developed to experiment and validate over-the-air updates of ADAS and AFT, and finally draw some lessons learnt and perspectives. I.

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Section: Conclusion and Prospectivesmentioning

confidence: 95%

Towards Adaptive Fault Tolerance on ROS for Advanced Driver Assistance Systems

Amy

Fabre

Lauer

2017

2017 47th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W)

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“…Today, many robotic systems use an asynchronous architecture for message delivery based on the publish-subscribe paradigm. An example is PX4 [5] and ROS [6]. These systems are easier to use and provide many benefits for quickly adding new interfaces and components through a loosely coupled architecture.…”

Section: B Publish-subscribe Robotic Systemsmentioning

confidence: 99%

Component Interface Standardization in Robotic Systems

Hristozov¹,

Matson²,

Dietz³

et al. 2022

Communication Papers of the 17th Conference on Computer Science and Intelligence Systems

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Components are heavily used in software systems, including robotic systems. The growth in sophistication and diversity of new capabilities for robotic systems presents new challenges to their architectures. Their complexity is growing exponentially with the advent of AI, smart sensors, and the complex tasks they have to accomplish. Such complexity requires a more flexible approach to creating, using, and interoperability of software components. The issue is exacerbated because robotic systems increasingly rely on third-party components for specific functions. In order to achieve this kind of interoperability, including dynamic component replacement, we need a way to standardize their interfaces. We desperately need a formal approach for specifying what an interface of a robotic software component should contain. This study analyzes the issue and presents a universal and generic approach to standardizing component interfaces for robotic systems. Our approach is inspired and influenced by well-established robotic architectures such as ROS, PX4, and Ardupilot. The study also applies to other software systems with similar characteristics to robotic systems. We consider using JSON or Domain-Specific Languages (DSL) development with tools such as Antlr or Xtext and automatic code and configuration files generation for frameworks such as ROS and PX4. A case study with ROS2 has been done as a proof of concept for the proposed methodology.

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“…Different links between processors have different data transmission rate. The transmission rate of a link (namely bandwidth) is measured in bits per second [35] [36]. Suppose communication bandwidth between any two processors is symmetrical, and we use notation B ij to represent the communication bandwidth from processor p i to processor p j .…”

Section: A System Modelmentioning

confidence: 99%

A Novel and Adaptive Transient Fault-Tolerant Algorithm Considering Timing Constraint on Heterogeneous Systems

2020

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Due to high performance and low power consumption, heterogeneous processors are widely used in many real-time systems. In these systems, if tasks are not completed before deadline, it will cause disastrous consequences, and thus it is important to provide fault-tolerance. This paper proposes a novel, adaptive and transient fault-tolerant scheduling algorithm to solve the fault-tolerant problem in heterogeneous real-time systems, aiming to improve system reliability within a given deadline. Since task replication is efficient in improving system reliability, the proposed algorithm supports multiple replicas for each primary task and allows the primary tasks and their replicas to be scheduled on the same processor to increase reliability and lower latency. Also, the algorithm can dynamically adjust the number of replicas for each task to accommodate the deadline and ensure higher reliability. Simulated results show that the proposed algorithm can achieve higher reliability in comparison with existing and related fault-tolerant algorithms. To be specific, the proposed algorithm can obtain the reliability of 89.37% whereas the two existing algorithms DB-FTSA and FTSA obtain the reliability of 47.05% and 84.75% for the benchmark of sixty tasks, respectively, to be detailed in Fig. 4 in experiment.

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Engineering Adaptive Fault-Tolerance Mechanisms for Resilient Computing on ROS

Cited by 14 publications

References 13 publications

Towards Adaptive Fault Tolerance on ROS for Advanced Driver Assistance Systems

Towards Adaptive Fault Tolerance on ROS for Advanced Driver Assistance Systems

Component Interface Standardization in Robotic Systems

A Novel and Adaptive Transient Fault-Tolerant Algorithm Considering Timing Constraint on Heterogeneous Systems

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