# RTLola Cleared for Take-Off: Monitoring Autonomous Aircraft

arXiv: https://arxiv.org/abs/2004.06488 · HTML: https://mlsanity.com/paper/2004.06488/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Stream-Based Monitoring of Algorithmic Fairness](https://mlsanity.com/paper/2501.18331/) (2025)

## Abstract (arXiv)

The autonomous control of unmanned aircraft is a highly safety-critical domain with great economic potential in a wide range of application areas, including logistics, agriculture, civil engineering, and disaster recovery. We report on the development of a dynamic monitoring framework for the DLR ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems) family of unmanned aircraft based on the formal specification language RTLola. RTLola is a stream-based specification language for real-time properties. An RTLola specification of hazardous situations and system failures is statically analyzed in terms of consistency and resource usage and then automatically translated into an FPGA-based monitor. Our approach leads to highly efficient, parallelized monitors with formal guarantees on the noninterference of the monitor with the normal operation of the autonomous system.