Abstract
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.
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