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Hi @williamVan, interesting question. The subject is quite broad as you are looking at safety, redundancy but also looking specific ways to achieve it. I suggest to read this paper:

https://hal.archives-ouvertes.fr/hal-01288113/document

Source: Towards Resilient Computing on ROS for Embedded Applications Jean-Charles Fabre, Michaël Lauer, Matthieu Roy, Matthieu Amy, William Excoffon, Miruna Stoicescu

In the paper there are more references in the subject as well. Hope this helps.

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