Episode 06: ROSCON 2016 - Adaptive Fault Tolerance on ROS: A Component-Based Approach
2016 November 26 ⋅ Download
ROSCon 2016 Presentation by Matthieu Amy (Renault SAS), Michael Lauer (LAAS-CNRS), Jean-Charles Fabre (LAAS-CNRS)
Every system evolves during their operational lifetime. A system that remains dependable when facing changes (new threats, failures, updates) is called resilient. We propose an approach to safety and adaptive fault tolerance 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. We will show how this approach can be implemented on ROS and explain some implementation details and the result of different experiments to validate the solution. We will also discuss the how we can use checkpointing technologies to make the ROS master crash-tolerant