ValidationofKernel-BasedTMR inan Autonomous Guided Vehicle

The TripleModalar Redundant (TMR) architectureis based on thetriplication of applicationmodules .To mask faults,copies ofmodules are mapped on processing units, capable ofdirectcommunication .In theapproach used in thispaper, each processing unit(ora processor)mapping a module, isequipped with a kernel.Thiskernelallows it to mask faults viaan agreement protocol involvingthe two other processors (mapping the two other copies). Faults are masked, under user requests,through.kernel primitives.Robot movements are observed when itspath following controlleris mapped on a TMR architecture. The output of the velocitycontrolleristhen submittedto an agreement. The study of resultedrobot movements shows thatsinglefaultsare efficiently masked .There isno perceptibledifferenceamong the robot behaviors, when using or not using fault-masking kernel,unless when