Embedded systems consist of hardware and software and are ubiquitous in safety-critical and mission-critical fields. The increasing integration density of modern, digital circuits causes an increasing vulnerability of embedded systems to transient faults. Techniques to improve the fault tolerance are often either implemented in hardware or in software. In this paper, we focus on synthesis techniques to improve the fault tolerance of embedded systems considering hardware and software. A greedy

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... gorithm is presented which iteratively assesses the fault tolerance of a processor-based system and decides which components of the system have to be hardened choosing from a set of existing techniques. We evaluate the algorithm in a simple case study using a Traffic Collision Avoidance System (TCAS).