The rapid development of technology leads to the rise of cyber-physical systems even in
the field of safety-critical systems like railway, robot, and self-driving car systems. Cyber-
physical systems process a huge amount of data coming from sensors and other information
sources and it often has to provide real-time feedback and reaction.
Cyber-physical systems are often critical, which means that their failure can lead to serious
injuries or even loss of human lives. Ensuring correctness is an important issue, however
traditional design-time verification approaches cannot be applied due to the complex
interaction with the environment, the distributed behavior, and the intelligent controller
solutions. Runtime analysis provides a solution where graph-based specification languages
and analysis algorithms are the proper means to analyze the behavior of cyber-physical
systems at runtime. Existing approaches from the literature formed the basis of our work:
we developed a distributed runtime verification framework to analyze the local behavior
of the components and ensure the global correctness of the systems.