RTAMT: Online Robustness Monitors from STL

05/24/2020

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by   Dejan Nickovic, et al.

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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.