On-the-fly software replacement in faulty remote robots

Remote robots are too expensive to be abandoned once a fault is detected. Moreover, faults may be overcome by wireless transmission of software replacements. But improper timing and replacements could cause crash and damages rather than system recovery. We designed a dynamic software controller that tracks robot applications, builds and continuously populates relevant data structures, for posterior accurate on-the-fly component replacement. The non-invasive controller implementation and validating tests are described.