Résumé
Nowadays, current research in the development of a robot focuses on ensuring the safety of persons around the robot and on resilience to recover from errors. As part of the general problem, managing real-time aspects is of main importance regarding "fault tolerance" in robotic systems, to monitor and adjust control scheme execution or to guarantee ex- ecution of critical behaviors prior to less important ones. In this context, the paper describes our cur- rent work on the ContrACT middleware [10] to en- hance its real-time scheduling service for instance to provide to users some means to observe and po- tentially react to temporal errors occurring during periodic loops execution.