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Experience demonstrates that autonomous mobile robots running in the field in a dynamic environment often breakdown. Generally, mobile robots are not designed to efficiently manage faulty or unforeseen situations. Even if some research studies exist, there is a lack of a global approach that really integrates dependability and particularly fault tolerance into the mobile robot design. This paper presents an approach that aims to integrate fault tolerance principles into the design of a robotdoi:10.1016/j.robot.2014.12.015 fatcat:3xfp3ommo5havnlycphm7rwrdy