# ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics

arXiv: https://arxiv.org/abs/2411.14367 · HTML: https://mlsanity.com/paper/2411.14367/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 31 references that are in the map.
- First posted on arXiv 21 Nov 2024.

## Builds on (most cited first, 2 of 2)

- [RTAMT: Online Robustness Monitors from STL](https://mlsanity.com/paper/2005.11827/) (2020)
- [Monitoring ROS2: from Requirements to Autonomous Robots](https://mlsanity.com/paper/2209.14030/) (2022)

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

- [One Monitor Does Not Fit All: Formalism-Agnostic Runtime Verification for Agentic AI](https://mlsanity.com/paper/2610.19818/) (2026)

## Abstract (arXiv)

Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both topics and services while considering the order in which messages are published and received. The framework has been enhanced to support these novel features for ROS1 -- and partially ROS2 environments -- offering improved real-time support, security, scalability, and interoperability. We discuss the modifications made to accommodate these advancements and present results obtained from a case study involving the runtime monitoring of specific components of a fire-fighting Uncrewed Aerial Vehicle (UAV).