  Fault tolerance is a critical aspect of modern computing systems, ensuring
correct functionality in the presence of faults. This paper presents a
comprehensive survey of fault tolerance methods and software-based mitigation
techniques in embedded systems. The focus is on real-time embedded systems,
considering their resource constraints and the increasing interconnectivity of
computing systems in commercial and industrial applications. The survey covers
various fault-tolerance methods, including hardware, software, and hybrid
redundancy. Particular emphasis is given to software faults, acknowledging
their significance as a leading cause of system failures. Moreover, the paper
explores the challenges posed by soft errors in modern computing systems. The
survey concludes by emphasizing the need for continued research and development
in fault-tolerance methods, specifically in the context of real-time embedded
systems, and highlights the potential for extending fault-tolerance approaches
to diverse computing environments.
