]. N. Tomatis, G. Terrien, R. Piguet, D. Burnier, S. Bouabdallah et al., Design and system integration for the expo.02 robot, in: proc, of the 875 Workshop on Robots in Exhibitions, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002.

G. Griffiths, N. Millard, S. Mcphail, P. Stevenson, and P. Challenor, On the Reliability of the Autosub Autonomous Underwater Vehicle, Underwater Technology, vol.25, issue.4, pp.175-184, 2003.
DOI : 10.3723/175605403783101612

J. Carlson and R. Murphy, How UGVs physically fail in the field, IEEE Transactions on Robotics, vol.21, issue.3, pp.423-437, 2005.
DOI : 10.1109/TRO.2004.838027

D. T. Phuoc-nguyen-nguyen-huu, J. Titus, and G. Ulsoy, Reliability and failure in Unmanned Ground Vehicle (ugv), 2009.

A. Avizienis, J. Laprie, B. Randell, and C. Landwehr, Basic concepts and taxonomy of dependable and secure computing, IEEE Transactions on Dependable and Secure Computing, vol.1, issue.1, pp.11-33, 2004.
DOI : 10.1109/TDSC.2004.2

V. Verma and R. Simmons, Scalable robot fault detection and identification, Robotics and Autonomous Systems, vol.54, issue.2, pp.184-191, 2006.
DOI : 10.1016/j.robot.2005.09.028

Y. Zhang and J. Jiang, Bibliographical review on reconfigurable fault-tolerant control systems, Annual Reviews in Control, vol.32, issue.2, pp.229-252, 2008.
DOI : 10.1016/j.arcontrol.2008.03.008

R. Isermann, Fault-Diagnosis Systems : An Introduction from Fault Detection to Fault Tolerance, 2006.
DOI : 10.1007/3-540-30368-5

V. Venkatasubramanian, R. Rengaswamy, K. Yin, and S. N. Kavuri, A review of process fault detection and diagnosis, Computers & Chemical Engineering, vol.27, issue.3, pp.293-311, 2003.
DOI : 10.1016/S0098-1354(02)00160-6

V. Venkatasubramanian, R. Rengaswamy, and S. N. Kavuri, A review of process fault detection and diagnosis, Computers & Chemical Engineering, vol.27, issue.3, pp.313-326, 2003.
DOI : 10.1016/S0098-1354(02)00161-8

V. Venkatasubramanian, R. Rengaswamy, S. N. Kavuri, and K. Yin, A review of process fault detection and diagnosis, Computers & Chemical Engineering, vol.27, issue.3, pp.327-346, 2003.
DOI : 10.1016/S0098-1354(02)00162-X

R. J. Patton, Fault-tolerant control: the 1997 situation, in: proc, of the IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, 1997.

R. Volpe, I. Nesnas, T. Estlin, D. Mutz, R. Petras et al., The CLARAty architecture for robotic autonomy, 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542), 2001.
DOI : 10.1109/AERO.2001.931701

J. Borrelly, E. Costemanì-ere, B. Espiau, K. Kapellos, R. Pissard-gibollet et al., The ORCCAD Architecture, The International Journal of Robotics Research, vol.17, issue.4, p.915
DOI : 10.1177/027836499801700403

URL : https://hal.archives-ouvertes.fr/hal-00930119

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, pp.315-337, 1998.
DOI : 10.1177/027836499801700402

URL : https://hal.archives-ouvertes.fr/hal-00123273

B. Lussier, A. Lampe, R. Chatila, J. Guiochet, F. Ingrand et al., 920 D. Powell, Fault tolerance in autonomous systems: How and how much ?, in: 4th IARP, Technical Challenges for Dependable Robots in Human Environments, 2005.

G. Steinbauer, M. Mörth, and F. Wotawa, Real-Time Diagnosis and Repair of Faults of Robot Control Software, p.925, 2005.
DOI : 10.1007/11780519_2

. Heidelberg, Real-Time Diagnosis and Repair of Faults of Robot Control Software, pp.13-23, 2005.

A. Basu, M. Gallien, C. Lesire, T. H. Nguyen, S. Bensalem et al., Incremental component-based construction and verification of a robotic system, 18th European Conference on Artificial Intelligence, p.930, 2008.

F. Py and F. Ingrand, Real-time execution control for autonomous systems., in: proc, of the 2nd European Congress ERTS, Embedded Real Time Software, 2004.

Z. Duan, Z. Cai, and J. Yu, Fault diagnosis and fault tolerant control for 935 wheeled mobile robots under unknown environments: A survey, in: proc, of the IEEE International Conference on Robotics and Automation, 2005.

M. Brandstötter, M. W. Hofbaur, G. Steinbauer, and F. Wotawa, Modelbased fault diagnosis and reconfiguration of robot drives, in: proc, RSJ International Conference on Intelligent RObots and Systems, IROS, 2007.

J. Mendoza, M. Veloso, R. Simmons, J. Mendoza, M. Veloso et al., Mobile robot fault detection based on redundant information statistics, in: IROS Workshop on Safety in Human- Robot Coexistence and Interaction, Vilamoura Motion interference detection in mobile robots, proc. of International Conference on Intelligent Robots and Systems, 2012.

A. Aguiar, Multiple-model adaptive estimators : Open problems and future directions, in: proc, of the European Control Conference, p.950

S. I. Roumeliotis, G. S. Sukhatme, G. A. Bekey, R. Volpe, I. A. Nesnas et al., Fault detection and identifcation in a mobile robot using multiple model estimation, in: proc. of Claraty: Coupled layer architecture for robotic autonomy, 2000.

A. Ranganathan and S. Koenig, A reactive robot architecture with planning on demand, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1248850

B. Morisset, G. Infantes, M. Ghallab, and F. Ingrand, Robel: Synthesizing and controlling complex robust robot behaviors, in: proc, of the 16th European Conference on Artificial Intelligence, ECAI, 2004.

S. Lemai and F. Ingrand, Interleaving temporal planning and execution: 965 IXTET-EXEC, 2003.

R. P. Goldman, D. J. Musliner, M. S. Boddy, and K. D. Krebsbach, The circa model of planning and execution, Working Notes of the AAAI Workshop on Robots Theories of Action, Planning and Control, p.970

S. Lemai and F. Ingrand, Interleaving temporal planning and execution in robotics domains, in: proc, of the 19th National Conference on Artifical Intelligence, AAAI'04, 2004.

A. Avizienis, Toward systematic design of fault-tolerant systems, Computer, vol.30, issue.4, pp.51-58, 1997.
DOI : 10.1109/2.585154

]. S. Mercier, F. Dehais, and C. Tessier, Adjustable autonomy without levels, NATO SCI-202 Symposium on Intelligent uninhabited vehicle guidance systems, p.980, 2009.

C. Miller, H. Funk, P. Wu, R. Goldman, J. Meisner et al., The playbook T M approach to adaptive automation, in: proc, of the Human 985 Factors and Ergonomics Society's 49 th Annual Meeting, 2005.

D. J. Bruemmer, D. D. Dudenhoeffer, J. L. Marble, M. T. Long, J. Carlson et al., Dynamic autonomy for urban search and rescue, in: AAAI Mobile Robot Competition and Exhibition (technical report), no. WS-02-18 Distributed error handling and hri, in: proc, of the IEEE International Conference on Robotics and Automation, p.990, 2002.

R. R. Murphy and D. Hershberger, Handling Sensing Failures in Autonomous Mobile Robots, The International Journal of Robotics Research, vol.18, issue.4, pp.382-400, 1999.
DOI : 10.1177/02783649922066286

V. Selvaraj, Failure mode analysis of an autonomous guided robot using JDBC, Master of science thesis

J. Guiochet and C. Baron, UML based risk analysis -application to a medical robot, in: proc, of the 5th International Conference on Quality Reliability and Maintenance, 2004.

Y. Maddahi, A. Maddahi, and S. M. Monsef, Design improvement of wheeled 1005 mobile robots: Theory and experiment, World Applied Sciences Journal, vol.16, issue.2, pp.263-274, 2012.

K. Ishikawa, M. Barbier, J. Gabard, D. Vizcaino, and O. Bonnet-torrs, a software package for autonomous system supervision, in: proc, of the 1st National Workshop on Control Architectures of Robots, pp.1010-1056, 1985.

X. Olive, FDI(R) for satellites: How to deal with high availability and 1015 robustness in the space domain?, International Journal of Applied Mathematics and Computer Science, vol.22, issue.1, pp.99-107, 2012.

J. Gertler, Fault Detection and Diagnosis in Engineering Systems, 1998.

A. E. Jalaoui, D. Andreu, and B. , Auv control architecture with man- 1020 agement of embedded instrumentation, in: proc, of the 4th IFAC Symposium on Mechatronic Systems, 2006.

L. Zhang, R. Zapata, and P. Lépinay, Self-adaptive Monte Carlo localization for mobile robots using range finders, Robotica, vol.30, issue.02, pp.229-244, 2012.
DOI : 10.1109/TSMCC.2002.806747

URL : https://hal.archives-ouvertes.fr/lirmm-00806955

L. Lapierre, R. Zapata, and P. Lépinay, Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot, The International Journal of Robotics Research, vol.26, issue.4, pp.361-375, 2007.
DOI : 10.1177/0278364907076790

URL : https://hal.archives-ouvertes.fr/lirmm-00127995

L. Lapierre and R. Zapata, A guaranteed obstacle avoidance guidance system, Autonomous Robots, vol.38, issue.5, pp.177-187, 2012.
DOI : 10.1007/s10514-011-9269-5

URL : https://hal.archives-ouvertes.fr/hal-00733826