Design of failsafe architecture for unmanned ground vehicle

This paper would like to design the failsafe architecture to ensure the stability and safety of unmanned ground vehicle (UGV). Because the failure in the unmanned systems can cause a nasty accident. So, first, we limit the discussion to the UGV in the unmanned systems. And then we find out failure for the UGV which consists of the variety of the hardware, and discuss the danger. And we define the level and the measurement for the failure. Lastly, we design the failsafe architecture based on the Joint Architecture for Unmanned Systems (JAUS).