The OPRoS fault processing framework

The Open Platform for Robotic Services (OPRoS) is a robot software platform that provides component-based development and execution environments for robot software. It also supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes the fault processing framework that processes faults in the OPRoS component execution engine.