{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:56:25Z","timestamp":1760241385381,"version":"build-2065373602"},"reference-count":37,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2018,1,11]],"date-time":"2018-01-11T00:00:00Z","timestamp":1515628800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Data networks are naturally prone to interferences that can corrupt messages, leading to performance degradation or even to critical failure of the corresponding distributed system. To improve resilience of critical systems, time-triggered networks are frequently used, based on communication schedules defined at design-time. These networks offer prompt error detection, but slow error recovery that can only be compensated with bandwidth overprovisioning. On the contrary, the Flexible Time-Triggered (FTT) paradigm uses online traffic scheduling, which enables a compromise between error detection and recovery that can achieve timely recovery with a fraction of the needed bandwidth. This article presents a new method to recover transmission errors in a time-triggered Controller Area Network (CAN) network, based on the Flexible Time-Triggered paradigm, namely FTT-CAN. The method is based on using a server (traffic shaper) to regulate the retransmission of corrupted or omitted messages. We show how to design the server to simultaneously: (1) meet a predefined reliability goal, when considering worst case error recovery scenarios bounded probabilistically by a Poisson process that models the fault arrival rate; and, (2) limit the direct and indirect interference in the message set, preserving overall system schedulability. Extensive simulations with multiple scenarios, based on practical and randomly generated systems, show a reduction of two orders of magnitude in the average bandwidth taken by the proposed error recovery mechanism, when compared with traditional approaches available in the literature based on adding extra pre-defined transmission slots.<\/jats:p>","DOI":"10.3390\/s18010188","type":"journal-article","created":{"date-parts":[[2018,1,11]],"date-time":"2018-01-11T13:36:15Z","timestamp":1515677775000},"page":"188","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Error Recovery in the Time-Triggered Paradigm with FTT-CAN"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6027-7808","authenticated-orcid":false,"given":"Luis","family":"Marques","sequence":"first","affiliation":[{"name":"Instituto Superior de Engenharia de Coimbra, Rua Pedro Nunes, 3030-188 Coimbra, Portugal"},{"name":"Instituto de Telecomunica\u00e7\u00f5es, Dep. Electr\u00f3nica, Telecomunica\u00e7\u00f5es e Inform\u00e1tica, Universidade de Aveiro, 3810-193 Aveiro, Portugal"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1638-1405","authenticated-orcid":false,"given":"Ver\u00f3nica","family":"Vasconcelos","sequence":"additional","affiliation":[{"name":"Instituto Superior de Engenharia de Coimbra, Rua Pedro Nunes, 3030-188 Coimbra, Portugal"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paulo","family":"Pedreiras","sequence":"additional","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Dep. Electr\u00f3nica, Telecomunica\u00e7\u00f5es e Inform\u00e1tica, Universidade de Aveiro, 3810-193 Aveiro, Portugal"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9544-3028","authenticated-orcid":false,"given":"Lu\u00eds","family":"Almeida","sequence":"additional","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Faculdade de Engenharia, University of Porto, 4200-465 Porto, Portugal"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,1,11]]},"reference":[{"key":"ref_1","unstructured":"(1991). Controller Area Network (CAN) Specification\u2014Version 2.0, Bosch GmbH."},{"key":"ref_2","unstructured":"(2017, January 01). CAN in Automation Site. Available online: http:\/\/www.can-cia.org."},{"key":"ref_3","unstructured":"FlexRay Consortium (FlexRay Communications System\u2014Protocol Specification\u2014Version 2.1 Revision A, 2005). 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