“…Its focus lies on supporting runtime monitoring activities for real-time and embedded systems and it does not adapt monitors based on different states of the system. A related approach for tracking the behavior of self-adaptive systems (Reynolds et al, 2020) relies on provenance graphs and a runtime model to analyze and explain the runtime behavior of a system. In the domain of robot systems, a model-based framework (Corbato et al, 2020) adapts robot control architectures at runtime.…”