Errors in robot frameworks

Inspired by the OROCOS discussion on dealing with errors in robot programming frameworks, I decided to probe the subject a little further, while you are working on the code of components. It seems that the literature of the subject is vast, but the information is rather dispersed. I had to make a major selection, so that the the result could fit 6 conference paper pages. I tried to bring together some of the more interesting facts, simultaneously trying to give some historical perspective, but had to leave out quite a lot of the collected information - and it seems that I have only hit upon the tip of the iceberg. The results of my query are summarised in:
http://www.ia.pw.edu.pl/~zielinsk/romoco02.pdf  - perhaps it can be treated as a kind of a limited introduction into the subject of error treatment in robotic systems. Any comments are more than welcome. I hope that this survey will somehow help the component coding effort.
Cezary