Tiny Drone, Tiny Resources: Deploying RTLola Monitors on the Crazyflie Platform

Jan Baumeister, Vihaan Bhaduri, Bernd Finkbeiner, Florian Kohn, and Frederik Scheerer

The Crazyflie is an open-source micro quadcopter weighing 29g that can be operated indoors without special safety requirements. This characteristic makes it a practical platform for developing and testing runtime monitors beyond simulation. Its lightweight design also makes it prone to disturbances such as drift, similar to larger drones in outdoor environments, thereby providing realistic data without the need for specially prepared environments. The Crazyflie is based on an STM32 microcontroller with 92kb of SRAM and 1Mb of flash memory shared between the flight controller and the monitor. In this paper, we present the integration of the stream-based monitoring framework extsc{RTLola} on the Crazyflie. We describe how bounded memory monitors can be generated for embedded devices, analyzing the trade-off between specification size and the use of complex data structures. The evaluation is conducted on a waypoint mission, tracking the absolute position of the drone with millimeter precision.

Runtime Verification Case-Studies Workshop 2025 (RVCase 2025).

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