Towards Adaptive Fault Tolerance: From a Component-Based Approach to ROS

A system that remains dependable when facing changes (new threats, failures, updates) is resilient. In this paper, we report on an approach 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. The second part of this paper shows how this approach can be implemented on ROS that is presently used for implementing automotive applications, e.g. ADAS. We illustrate the mapping of ideal components to ROS components and give implementation details of a fault tolerance design pattern that is adaptive at runtime. We finally draw the lessons learnt from our first experiments.