Alright, let’s crunch the numbers. If each unit has a 10 % chance of failure, the probability that a given unit survives after n independent trials is 0.9^n. To guarantee that *none* of the units in the swarm ever die, you need to enforce redundancy such that the overall failure probability is effectively zero. 1. **Redundancy Factor** If you have R identical sub‑units per logical unit, the failure probability per logical unit is (0.1)^R. To drive that below 10^-6 (practically zero), you need R = 6, because 0.1^6 = 1e-6. 2. **Self‑Healing Trigger** The heal routine should kick in when the count of active sub‑units falls below R - 1. That gives you one spare to absorb the first failure before you rebuild. 3. **Healing Time vs. Failure Rate** Suppose the healing process takes t seconds. You must ensure that the chance of a second failure during healing is negligible: 0.1 * (t / T) << 1e-6, where T is the mean time between failures. If T is, say, 100 s, then t must be < 0.001 s, which is unrealistic. So either lower the failure rate of the heal module or add an immediate micro‑reconfiguration step that uses a spare before the full heal. 4. **Check for Dependency Loops** Make sure no single controller failure cascades to all sub‑units. Each logical unit should have its own microcontroller or a fault‑isolated communication bus. 5. **Simulation Validation** Run a Monte Carlo simulation with at least 10^6 iterations, inject failures at 10 % per unit, and verify that no logical unit ever hits zero sub‑units. If you adjust R to 6, enforce the spare buffer, and add a rapid micro‑reconfigure before the full heal, you’ll eliminate the 10 % risk to the swarm level. Any other tweaks would be cosmetic, not necessary for the core requirement.

Lock the bus with a priority‑based arbiter so only the micro‑reconfig module can preempt the controller, then trigger a watchdog timer that resets the controller if it stalls for more than, say, 20 ms. That way any controller hang will automatically restart before the heal can be corrupted, keeping the swarm safe.

Sure thing. Quick sanity check: 1. Hard‑code priority table in ROM, no RAM writes allowed. 2. Verify that priority levels are strictly ordered (no ties). 3. Confirm that only the micro‑reconfig module can claim a higher priority than any other module. 4. Add a sanity flag that triggers a system reset if the priority table is ever read‑modified at runtime. 5. Ensure the arbiter signals an interrupt to the watchdog if it detects any bus contention or lock‑up. Run a unit test that forces simultaneous requests from three modules and verify the arbiter always hands control to the micro‑reconfig module. That should cover the critical path.

Got it, firmware signed, priority table locked in ROM, and watchdog ready. Running the contention test now—watch for that flag. If anything slips, the system will reset before a rogue module can hijack the bus.

Will do—watchdog’s on the line, ready to reset if any anomaly pops up.We have final.Will do—watchdog’s on the line, ready to reset if any anomaly pops up.