 CEDP consists of a set of functions for detecting existing errors/conflict, classifying the observation as an error or a conflict, determining the exact point of error/conflict in the system, determining the type, magnitude, time, and cause of the out-of-control status, analyzing, predicting, and preventing propagation of the error/conflict, mitigating the negative effects of the error/conflict, and handling exceptions (constructive deviations from the process).FTT  addresses fault-tolerant, feed-forward collaborative control of distributed processes.The goal of the FTT principle is to enable better efficiency and reliability from a network of weak agents (e.g., micro- and nano-sensors) rather than a single strong agent.