RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics
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| Format: | Preprint |
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2025
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| _version_ | 1866912211599884288 |
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| author | Yamaguchi, Tomoya Hoxha, Bardh Nickovic, Dejan |
| author_facet | Yamaguchi, Tomoya Hoxha, Bardh Nickovic, Dejan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_18608 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics Yamaguchi, Tomoya Hoxha, Bardh Nickovic, Dejan Logic in Computer Science Robotics 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. |
| title | RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics |
| topic | Logic in Computer Science Robotics |
| url | https://arxiv.org/abs/2501.18608 |