Do I interpret your comment correctly as saying there is some redundant system that is specifically looking for anomalies in sensor readings? Would a top of th

Do I interpret your comment correctly as saying there is some redundant system that is specifically looking for anomalies in sensor readings? Would a top of the line lidar system be able to "understand" that its current inputs were resulting in erroneous outputs? I am reminded of one of the recent Japanese satellites that was effectively an infant mortality, because of some quirk in its redundant systems. I've forgotten the details, but more or less, there were cascading failures across a primary system, its secondary redundancy, and its tertiary redundancy. So the feedback loops designed by the engineers to be negative, and mitigating, ended up being positive, and therefore aggravating, in the cruel vacuum of space. It came down to some error in an orientation sensor, and somehow, the redundant system actually ended up relying on information from the primary system. The boosters designed to slow down the rotation relied on the notion of the satellite's actual rotation, according to the original sensor. As the story goes "Does the machine ever give the right answer given the wrong inputs, Mr Babbage?" Nearly 200 years later, we may finally becoming around to seeing that the woman that asked the question had a point, and Charles simply dismissed it out of hand.