Faults that occur in an autonomous robot system negatively affect its dependability. The aim of truly dependable and autonomous systems requires that one has to deal with these faults in some way. In order to be able to do this efficiently one has to have information on the nature of these faults. Very few studies on this topic have been conducted so far. In this paper we present results of a survey on faults of autonomous robots we conducted in the context of RoboCup. The major contribution of this paper is twofold. First we present an adapted fault taxonomy suitable for autonomous robots. Second we give information on the nature, the relevance and impact of faults in robot systems that are beneficial for researcher dealing with fault mitigation and management in autonomous systems.
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