“…To address this problem, therefore, the OMG devised the Fault-tolerant CORBA (FT-CORBA) specification [1], which leveraged the lessons learned from earlier R&D efforts [20,21,22,19,10,16]. As we pointed out in Sections 1 and 3, however, FT-CORBA is not yet usable in DRE systems that possess stringent end-to-end QoS constraints.…”