![](bg6.png)
0 5 10 15 20 25 30 35 40 45
0.93
0.94
0.95
0.96
0.97
0.98
0.99
1
Time
Dependability
Figure 7: Measured (red) and predicted (blue) dependability
of the autonomous mobile system.
REFERENCES
Arlat, J., Aguera, M., Amat, L., Crouzet, Y., Fabre, J.-C.,
Laprie, J.-C., Martins, E., and Powell, D. (1990). Fault
injection for dependability validation: A methodology
and some applications. IEEE Transactions on Soft-
ware Engineering, 16(2):166–182.
Arulampalam, M. S., Maskell, S., Gordon, N., and Clapp,
T. (2002). A tutorial on particle filters for on-
line nonlinear/non-gaussian bayesian tracking. Signal
Processing, IEEE Transactions on [see also Acous-
tics, Speech, and Signal Processing, IEEE Transac-
tions on], 50(2):174–188.
Avizienis, A., Laprie, J.-C., and Randell, B. (2004a). De-
pendability and its threats: A taxonomy.
Avizienis, A., Laprie, J.-C., Randell, B., and Landwehr, C.
(2004b). Basic concepts and taxonomy of dependable
and secure computing. IEEE Trans. on Dependable
and Secure Computing, 1(1):11–33.
Badreddin, E. (1999). Safety and dependability of mecha-
tronics systems. In Lecture Notes. ETH Z¨urich.
Brown, A., Chung, L., and Patterson, D. A. (2002). Includ-
ing the human factor in dependability benchmarks. In
Proceedings of the DSN Workshop on Dependability
Benchmarking.
Candea, G. (2003). The basics of dependability.
Carter, W. (1982). A time for reflection. In Proc. 12th
Int. Symp. on Fault Tolerant Computing (FTCS-12).
FTCS-12) IEEE Computer Society Press Santa Mon-
ica.
Chen, Z. (2003). Bayesian filtering: From kalman filters to
particle filters, and beyond. Technical report, McMas-
ter University.
Cukier, M. and Smidts, C. S. (2002). Using bayesian theory
for estimating dependability benchmark measures. In
Proceedings of the DSN Workshop on Dependability
Benchmarking.
Department of Defense, U. S. o. A. (1970). Military stan-
dard - definitions of terms for reliability and maintain-
ability. Technical Report MIL-STD-721C.
Dewsbury, G., Sommerville, I., Clarke, K., and Rounce-
field, M. (2003). A dependability model for domestic
systems. In SAFECOMP, pages 103–115.
Dubrova, E. (2006). Fault tolerant design: An introduction.
Draft.
Kanoun, K., Madeira, H., and Aria, J. (2002). A framework
for dependability benchmarking. In Proceedings of
the DSN Workshop on Dependability Benchmarking.
Laprie, J. C. (1992). Dependability. Basic Concepts and
Terminology. Ed. Springer Verlag.
Mukherjee, A. and Siewiorek, D. P. (1997). Measuring
software dependability by robustness benchmarking.
IEEE Trans. Softw. Eng., 23(6):366–378.
Randell, B. (2000). Turing Memorial Lecture: Facing up to
faults. 43(2):95–106.
R¨udiger, J., Wagner, A., and Badreddin, E. (2007a). Behav-
ior based definition of dependability for autonomous
mobile systems. European Control Conference 2007.
Kos, Greece.
R¨udiger, J., Wagner, A., and Badreddin, E. (2007b). Be-
havior based description of dependability - defining a
minium set of attributes for a behavioral description
of dependability. ICINCO.
Rus, I., Basili, V., Zelkowitz, M., and Boehm, B. (2002).
Empirical evaluation of techniques and methods used
for achieving and assessing software high dependabil-
ity. In Proceedings of the DSN Workshop on Depend-
ability Benchmarking.
Willems, J. (1991). Paradigms and puzzles in the theory of
dynamical systems. Automatic Control, IEEE Trans-
actions on, 36(3):259–294.
Wilson, D., Murphy, B., and Spainhower, L. (2002).
Progress on defining standardized classes for compar-
ing the dependability of computer systems.
ICINCO 2008 - International Conference on Informatics in Control, Automation and Robotics
142