RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics

TL;DR

RTAMT is a flexible real-time monitoring tool for Signal Temporal Logic, supporting various environments, logic variants, and applications in robotics and CPS, with integration into ROS and MATLAB/Simulink.

Contribution

The paper introduces RTAMT, a novel, adaptable monitoring library that supports multiple logic types, environments, and real-time applications in robotics and CPS.

Findings

RTAMT successfully integrates with ROS and MATLAB/Simulink.

Demonstrated effectiveness in robotic and avionic scenarios.

Supports both discrete and dense-time STL monitoring.

Abstract

In this paper, we present Real-Time Analog Monitoring Tool (RTAMT), a tool for quantitative monitoring of Signal Temporal Logic (STL) specifications. The library implements a flexible architecture that supports: (1) various environments connected by an Application Programming Interface (API) in Python, (2) various flavors of temporal logic specification and robustness notion such as STL, including an interface-aware variant that distinguishes between input and output variables, and (3) discrete-time and dense-time interpretation of STL with generation of online and offline monitors. We specifically focus on robotics and Cyber-Physical Systems (CPSs) applications, showing how to integrate RTAMT with (1) the Robot Operating System (ROS) and (2) MATLAB/Simulink environments. We evaluate the tool by demonstrating several use scenarios involving service robotic and avionic applications.