实时监控机器人与物理系统中的逻辑规范，提升运行时安全性。
RTAMT -- Runtime Robustness Monitors with Application to CPS and Robotics
- 基于STL的实时监控工具，支持输入输出变量区分
- 可对接ROS与MATLAB/Simulink，适配离散与稠密时间模型
- 适用于机器人和航电系统的安全验证场景
本文提出实时模拟监控工具RTAMT，用于定量监控信号时序逻辑（STL）规范。该库采用灵活架构，支持通过Python API连接多种环境；兼容多种时序逻辑变体及鲁棒性度量，包括区分输入输出变量的接口感知型STL；支持离散时间与稠密时间下的STL解释，并生成在线与离线监控器。特别聚焦于机器人与网络物理系统（CPS）应用，展示了RTAMT与机器人操作系统（ROS）及MATLAB/Simulink环境的集成方法。通过服务机器人与航电系统的多个应用场景验证了该工具的有效性。
原文摘要 · Abstract (English)
In this paper, we present 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 Systems (CPSs) applications, showing how to integrate RTAMT with (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.
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