Here's a few links along these lines that might interest you. They are an intro, recovery-oriented computing, a survey that includes N-version, and a recent survey including some byzantine fault-tolerance.

http://crystal.uta.edu/~kumar/cse6306/papers/FaultTolerantDi...

http://roc.cs.berkeley.edu/papers/ROC_TR02-1175.pdf

http://www.pld.ttu.ee/IAF0030/Paper_4.pdf

http://sirocco2016.hiit.fi/preproceedings/Recent_Results_on_...