Joaquim Ferreira,  Luis Almeida,  José Fonseca,  Paulo Pedreiras,  Max Mauro Dias Santos. 

CAN is nowadays a mature and popular protocol with a large installed base in different application fields, ranging from automotive systems to medical and factory automation. However there have been some concerns about its ability to cope with dependable and more bandwidth demanding applications. This has lead to the development of some CAN related protocols aimed to eliminate some of native CAN impairments to dependability while maintaining unchanged its bandwidth, due to physical limitations. Among the emerging CAN-based protocols, TTCAN, TCAN and FTT-CAN deserve special attention and will briefly described and compared in terms of dependability and flexibility.

http://www.lbd.dcc.ufmg.br/colecoes/wtr/2005/011.pdf

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