A fault tolerant real-time publisher/subscriber inter-process communication architecture

Real-time publication and subscription (P/S) is an important communication paradigm that can be used to support the flexible integration and upgrading of distributed real-time systems. In this paper, we present a fault-tolerant extension of a real-time P/S service in the context of a duplex architecture. We also present the rationale for the key design decisions and show how to improve the response time of the real-time P/S service with an acceptable impact on control tasks that share the processor with the P/S service.