RTAMT – Runtime Robustness Monitors with Application to CPS and Robotics

In this paper, we present the 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 System (CPS) applications, showing how to integrate RTAMT into (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.