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            <title xml:lang="en">Fault tolerance in autonomous systems</title>
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                <forename type="first">Benjamin</forename>
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                    <forename type="first">Benjamin</forename>
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                <term xml:lang="en">Robotics</term>
                <term xml:lang="en">Dependability</term>
                <term xml:lang="en">Fault injection</term>
                <term xml:lang="en">Planning</term>
                <term xml:lang="en">Autonomous systems</term>
                <term xml:lang="en">Fault tolerance</term>
                <term xml:lang="fr">Robotique</term>
                <term xml:lang="fr">Tolérance aux fautes</term>
                <term xml:lang="fr">Systèmes autonomes</term>
                <term xml:lang="fr">Planification</term>
                <term xml:lang="fr">Injection de fautes</term>
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              <p>Autonomous systems generate today a rising interest, whether in fields such as space exploration or applications nearer to man such as medical assistants, tour guides or autonomous vehicles. However, such critical applications raise the question of their dependability: can we justifiably trust systems designed to take decisions without human intervention? The objective of this thesis is to propose architectural concepts able to improve dependability in autonomous systems. In particular, it presents the design and implementation of fault tolerance mechanisms adapted to planning, an essential functionality in autonomous systems. An evaluation of the performance and the efficacy of the proposed mechanisms is realized by fault injection through source code mutation.</p>
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              <p>Les systèmes autonomes suscitent aujourd'hui un intérêt croissant, que ce soit dans le domaine des robots d'exploration spatiale ou dans des domaines plus proches de l'homme, tels que les robots de service. Mais se pose le problème de leur sûreté de fonctionnement : peut-on avoir une confiance justifiée dans le comportement de systèmes conçus pour prendre des décisions sans intervention humaine ? L'objectif de cette thèse est de proposer des concepts architecturaux capables d'améliorer la sûreté de fonctionnement des systèmes autonomes, en particulier par la conception et le développement de mécanismes de tolérance aux fautes adaptés à la fonction de planification, centrale à l'autonomie des systèmes complexes. Une évaluation des performances et de l'efficacité des mécanismes proposés est réalisée en utilisant la technique d'injection de fautes par mutation.</p>
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