RTAMT: Online Robustness Monitors from STL

TL;DR

RTAMT is an online monitoring library for STL and IA-STL, integrated with ROS, enabling real-time robustness analysis in robotic applications, demonstrated through two case studies.

Contribution

The paper introduces RTAMT, a novel online robustness monitoring library for STL and IA-STL, with an integration tool for ROS, enhancing real-time robotic system analysis.

Findings

Effective real-time robustness monitoring demonstrated in robotic case studies.

Seamless integration of STL monitoring with ROS environment.

Versatile interpretation of STL in discrete and dense time.

Abstract

We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that integrates RTAMT with Robotic Operating System (ROS), a common environment for developing robotic applications. We evaluate RTAMT and RTAMT4ROS on two robotic case studies.