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RTAMT: Online Robustness Monitors from STL

arXiv 2005.11827 ↗First posted 24 May 2020cs.LO cs.FLcited by 19

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Abstract (arXiv)

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.

Key facts. Cited by 19 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 May 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 5; 2023: 3; 2024: 2; 2025: 4; 2026: 3.

19 papers.

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  1. 2021Hierarchical Potential-based Reward Shaping from Task Specificationscited by 7
  2. 2022Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domainscited by 7
  3. 2021Part-X: A Family of Stochastic Algorithms for Search-Based Test Generation with Probabilistic Guaranteescited by 6
  4. 2022STL-Based Synthesis of Feedback Controllers Using Reinforcement Learningcited by 4
  5. 2022Learning Performance Graphs from Demonstrations via Task-Based Evaluationscited by 3
  6. 2022Falsification of Multiple Requirements for Cyber-Physical Systems Using Online Generative Adversarial Networks and Multi-Armed Banditscited by 2
  7. 2023Learning-Based Approaches to Predictive Monitoring with Conformal Statistical Guaranteescited by 2
  8. 2023Runtime Monitoring DNN-Based Perceptioncited by 1
  9. 2023Signal Temporal Logic-Guided Apprenticeship Learningcited by 1
  10. 2025Predictive Traffic Rule Compliance using Reinforcement Learningcited by 1
  11. 2022Safe Policy Improvement in Constrained Markov Decision Processescited by 0
  12. 2024Natural Adversaries: Fuzzing Autonomous Vehicles with Realistic Roadside Object Placementscited by 0
7 more
  1. 2024ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topicscited by 0
  2. 2025Interpretable Early Failure Detection via Machine Learning and Trace Checking-based Monitoringcited by 0
  3. 2025TOGGLE: Temporal Logic-Guided Large Language Model Compression for Edgecited by 0
  4. 2025Results of the 2024 CommonRoad Motion Planning Competition for Autonomous Vehiclescited by 0
  5. 2026Validating Generalist Robots with Situation Calculus and STL Falsificationcited by 0
  6. 2026ROMAN: Reward-Orchestrated Multi-Head Attention Network for Autonomous Driving System Testingcited by 0
  7. 2026Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Modelcited by 0