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Meeting safety requirements typically require substantial invasive extensions to applications. Even in the absence of faults, the overhead associated with these invasive extensions may unacceptably increase execution time. In this paper we focus on a number of experiments with schemes for error detection, having a 3D Path Planning application for an avionics system as case study. We analyze how these error detection schemes can be implemented to meeting system's time budget. The experimentsdoi:10.1109/ahs.2012.6268670 dblp:conf/ahs/AzarianFWPCH12 fatcat:umdfkjkqfvgcpdtwfqsal4y75e