Kubernetes handles most of this seemlessly for the cluster infrastructure.

The central master handles node failures by removing nodes that aren't heartbeating.

On the node, we require a process monitor for the kubelet (by default we use supervisord) but then the kubelet monitors Docker [and also does garbage collection and resource limiting ], and then all of the other node daemons (e.g. the kubernetes proxy) are run/monitored/restarted by the kubelet.