Algorithm of Byzantine Fault Tolerance for increasing the dependability of CAN(Controller Area Networks) communications

Since robustness against a fault operation cannot be sufficiently guaranteed in CAN-based control systems, it has not been used for controlling safety-critical actuators, although the CAN already provides fault tolerant, deterministic, and dependable communication functionality. In this paper, we propose a Byzantine fault tolerance scheme to increase the system dependability in CAN-based control systems; the Byzantine fault tolerance scheme can provide the dependability through using multiple processors operating for same objects. And we propose an algorithm for not only guaranteeing the Byzantine fault tolerance, but also minimizing the communication overhead incurred by the Byzantine fault tolerance scheme.