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This paper deals with an embedded fault detection and isolation (FDI)-fault-tolerant control approach applied to an overactuated electric vehicle. This method is described in the following three major steps: 1) trajectory planning based on the inverse kinematic modeling of the vehicle; 2) model-based fault diagnosis of the traction system; and 3) vehicle control reconfiguration in faulty situations. Autonomous vehicles, as studied in this paper, are very suited to accomplish missions in confined space or in hostile environments (in radioactive environments and spatial programs), where the success of the mission is more important than the cost of the additional actuators. The proposed FDI approach provides an early detection of the faults, allowing safe reconfiguration of the system control. Cosimulation results using experimental data show the performances and advantages of the presented approach.