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The authors propose a layer called SAFER (System-level Architecture for Failure Evasion in Real-time applications) to incorporate configurable task-level fault-tolerance features such as Hot Standby and Cold Standby in order to tolerate fail-stop processor and task failures for distributed embedded real-time systems. To detect such failures, SAFER monitors the health status and state information of each task and broadcasts the information. When a failure is detected, SAFER reconfigures the system to recover failed processors and tasks. SAFER has been implemented on Ubuntu 10.04 LTS and deployed on Boss, an award-winning driverless vehicle developed at CMU.
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