Building a Coordination Framework to Support Behavior-Based Adaptive Checkpointing for Open Distributed Embedded Systems

Checkpointing is a commonly used approach to provide fault-tolerance and improve system dependability. However, using a constant and pre-configured checkpointing frequency may compromise other QoS criteria when there are resource and timing constraints. The frequency of checkpointing should be based on the importance of corresponding entities´ behaviors and should also be runtime adaptable. The paper presents a behavior-based coordination framework. In this framework, behavior-based adaptive checkpointing is treated as a coordination concern; different coordination constraints are applied based on the behaviors that the entities are currently engaged in. Our prototyping and empirical experiments have shown that we are able to achieve behavior-based coordination in a more modular way with limited performance overhead. The experiments also demonstrate that the framework scales well when the number of entities involved in the system increases