On Fault Tolerance and Robustness in Autonomous Systems

The dependability of autonomous systems is a particular concern, notably because of the advanced decisional mechanisms and other artificial intelligence techniques on which such systems rely. This paper sets the context of dependability and autonomy, and focuses on two non-exclusive approaches aiming to improve dependability: fault tolerance and robustness. The paper gives definitions of these approaches, and studies their relationship and applicability to autonomous systems.

[1]  Nicola Muscettola,et al.  IDEA: Planning at the Core of Autonomous Reactive Agents , 2002 .

[2]  LaprieJean-Claude,et al.  Definition and Analysis of Hardware- and Software-Fault-Tolerant Architectures , 1990 .

[3]  Peter H. M. Klein,et al.  The Safety-Bag Expert System in the Electronic Railway Interlocking System ELEKTRA , 1991 .

[4]  Félix Ingrand,et al.  Interleaving Temporal Planning and Execution in Robotics Domains , 2004, AAAI.

[5]  Mark J. Warshawsky,et al.  A Modern Approach , 2005 .

[6]  Peter Norvig,et al.  Artificial Intelligence: A Modern Approach , 1995 .

[7]  E. Gat.  On Three-Layer Architectures , 1997 .

[8]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[9]  Sadie Creese,et al.  Conceptual Model and Architecture of MAFTIA , 2003 .

[10]  Jean Arlat,et al.  Definition and analysis of hardware- and software-fault-tolerant architectures , 1990, Computer.

[11]  Roland Siegwart,et al.  Designing a secure and robust mobile interacting robot for the long term , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Daniel M. Gaines,et al.  CLARAty: coupled layer architecture for robotic autonomy , 2005 .

[13]  Brian Randell,et al.  System structure for software fault tolerance , 1975, IEEE Transactions on Software Engineering.

[14]  Peter Norvig,et al.  Artificial intelligence - a modern approach, 2nd Edition , 2003, Prentice Hall series in artificial intelligence.

[15]  Rachid Alami,et al.  An Architecture for Autonomy , 1998, Int. J. Robotics Res..

[16]  Félix Ingrand,et al.  Real-Time Execution Control for Autonomous Systems , 2004 .

[17]  P. Pandurang Nayak,et al.  Remote Agent: To Boldly Go Where No AI System Has Gone Before , 1998, Artif. Intell..

[18]  Liming Chen,et al.  N-VERSION PROGRAMMINC: A FAULT-TOLERANCE APPROACH TO RELlABlLlTY OF SOFTWARE OPERATlON , 1995, Twenty-Fifth International Symposium on Fault-Tolerant Computing, 1995, ' Highlights from Twenty-Five Years'..