翻訳待ち：Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study

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--> [Submitted on 3 Aug 2026] Title:Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study View a PDF of the paper titled Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study, by Elizabeth Dietrich and 5 other authors View PDF Abstract:Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitoring such specifications under uncertainty remains challenging, as existing formulations typically require extensive data or explicit uncertainty distributions. In this paper, we propose a real-time monitoring framework that reduces data requirements by leveraging data-driven reachable sets for specification evaluation. We instantiate the framework for maritime navigation, where complex specifications arise from traffic rules. We develop a data-efficient pipeline for constructing reachable sets and derive a monitoring formulation suitable for real-time deployment. Simulation and hardware experiments demonstrate robust monitoring under realistic disturbances, achieving improved risk detection compared to state-of-the-art metrics. Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2608.02811 [cs.RO] (or arXiv:2608.02811v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.02811 arXiv-issued DOI via DataCite (pending registration) Submission history From: Elizabeth Dietrich [view email] [v1] Mon, 3 Aug 2026 19:06:29 UTC (6,109 KB) Full-text links: Access Paper: View a PDF of the paper titled Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study, by Elizabeth Dietrich and 5 other authors View PDF TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)