Benjamin Lussier Matthieu Gallien Jérémie Guiochet Félix Ingrand Marc-Olivier Killijian David Powell Fault Tolerant Planning for Critical Robots. 144-153 2007 conf/dsn/2007 DSN http://doi.ieeecomputersociety.org/10.1109/DSN.2007.50 db/conf/dsn/dsn2007.html#LussierGGIKP07