R. A. Brooks, A robust layered control system for a mobile robot, IEEE Journal on Robotics and Automation, vol.2, issue.1, pp.14-23, 1986.
DOI : 10.1109/JRA.1986.1087032

J. Rozenblatt, DAMN: a distributed architecture for mobile navigation, Journal of Experimental & Theoretical Artificial Intelligence, vol.3, issue.2-3, 1997.
DOI : 10.1109/TSMC.1973.5408575

R. P. Bonasso, R. J. Firby, E. Gat, D. P. Kortenkamp, M. G. Miller et al., Experiences with an architecture for intelligent, reactive agents, Journal of Experimental and Theoretical Artificial Intelligence, vol.9, issue.2, pp.237-256, 1997.
DOI : 10.1007/3540608052_67

R. Alami, R. Chatila, S. Fleury, M. Ghallab, and F. Ingrand, An Architecture for Autonomy, The International Journal of Robotics Research, vol.17, issue.4, 1998.
DOI : 10.1177/027836499801700402
URL : https://hal.archives-ouvertes.fr/hal-00123273

R. Volpe, I. Nesnas, T. Estlin, D. Mutz, R. Petras et al., CLARATy: Coupled layer architecture for robotic autonomy, 2000.
DOI : 10.1109/aero.2001.931701
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.32.6310

C. Chopinaud, Contrôle de l'émergence de comportements dans les systèmes d'agents cognitifs autonomes, Thèse de doctorat de l'université Pierre et Marie Curie, 2007.

H. Huang, K. Pavek, B. Novak, J. Albus, and E. Messina, A Framework For Autonomy Levels For Unmanned Systems (ALFUS), Proceedings of the AUVSI's Unmanned Systems North America 2005, 2005.

B. T. Clough, Metrics, Schmetrics! How The Heck Do You Determine a UAV's Autonomy Anyway? " , Performance Metrics for Intelligent Systems Workshop, 2002.

M. Goodrich, D. Olsen, J. Crandall, and T. Palmer, Experiments in adjustable autonomy, Proceedings of IJCAI Workshop on Autonomy, Delegation and Control: Interacting with Intelligent Agents, 2001.

D. Dufourd and A. Dalgalarrondo, Integrating human / robot interaction into robot control architectures for defense applications, 2006.

T. B. Sheridan and R. Parasuraman, Human-Automation Interaction, Reviews of Human Factors and Ergonomics, vol.1

M. Goodrich, T. W. Mclain, J. D. Anderson, J. Sun, and J. W. Crandall, Managing autonomy in robot teams, Proceeding of the ACM/IEEE international conference on Human-robot interaction , HRI '07, pp.25-32, 2007.
DOI : 10.1145/1228716.1228721

P. Scerri, D. V. Pynadath, and M. Tambe, Towards Adjustable Autonomy for the Real World, Journal of Artificial Intelligence Research -JAIR, vol.17, pp.171-228, 2002.

G. Mourioux, C. Novales, and G. Poisson, Control robot by a generic control architecture, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
DOI : 10.1109/IROS.2007.4399515

S. Stinckwich and N. Bouraqadi, Towards an Adaptive Robot Control Architecture, 2007.

D. Dufourd and A. Dalgalarrondo, Integrating human / robot interaction into robot control architectures for defense applications, 2006.

S. Mercier, F. Dehais, C. Lesire, and C. Tessier, Resources as basic concepts for authority sharing, HUMOUS, 2008.

R. Reiter, A theory of diagnosis from first principles, Artificial Intelligence, vol.32, issue.1, pp.57-95, 1987.
DOI : 10.1016/0004-3702(87)90062-2

B. C. William, P. Nayak, and N. Muscetolla, Remote agent: To bodly go where no AI agent has gone before, Artificial Intelligence, vol.103, issue.12, pp.5-48, 1998.

G. Friedrich, M. Stumptner, and F. Wotawa, Model-based diagnosis of hardware designs, Artificial Intelligence, vol.111, issue.1-2, pp.3-39, 1999.
DOI : 10.1016/S0004-3702(99)00034-X

G. Steinbauer, M. Mörth, and F. Wotawa, Real-Time Diagnosis and Repair of Faults of Robot Control Software, Robocup Intenational Symposium, pp.13-23, 2005.
DOI : 10.1007/11780519_2

V. Verma, G. Gordon, R. Simmons, and S. Thrun, Real-time fault diagnosis, IEEE Robotics & Automation Magazine, vol.11, issue.2, pp.56-66, 2004.
DOI : 10.1109/MRA.2004.1310942

M. Brandstötter, M. W. Hofbaur, G. Steinbauer, and F. Wotawa, Model-based fault diagnosis and reconfiguration of robot drives, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1203-1209, 2007.
DOI : 10.1109/IROS.2007.4399092

R. R. Murphy and D. Hershberger, Classifying and recovering from sensing failure in autonomous mobile robot, AAAI/IAAI, vol.2, pp.922-929, 1996.

S. I. Roumeliotis, G. S. Sukhatime, and G. A. Bekey, Fault detection and identification in a mobile robot using multiple-model estimation, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.2223-2228, 1998.
DOI : 10.1109/ROBOT.1998.680654

A. Eljalaoui, Gestion Contextuelle de tâches pour le Contrôle d'in véhicule sous-marin Autonome, Thèse de doctorat de l'université Montpellier 2, 2007.

W. Laung-terng, W. Cheng-wen, and W. Xiaoqing, VLSI Test Principles and Architectures: Design for Testability, 2006.

T. Schöler and C. Müller-schloer, An Observer/Controller Architecture for Adaptive Reconfigurable Stacks, pp.139-153, 2005.
DOI : 10.1007/978-3-540-31967-2_10

L. F. Mendonça, J. M. Sousa, J. M. Sá, and C. , An architecture for fault detection and isolation based on fuzzy methods, Expert Systems with Applications, vol.36, issue.2, pp.1092-1104, 2009.
DOI : 10.1016/j.eswa.2007.11.009

C. Plagemann, C. Stachniss, and W. Burgard, Efficient Failure Detection for Mobile Robots Using Mixed-Abstraction Particle Filters, EUROS, 2006.
DOI : 10.1007/11681120_8
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.143.8945

R. Dearden, F. Hutter, R. Simmons, S. Thrun, V. Verma et al., Real-time fault detection and situational awareness for rovers: report on the mars technology program task, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720), pp.826-840, 2004.
DOI : 10.1109/AERO.2004.1367683