  The Robot Operating System (ROS) is a widely used framework for building
robotic systems. It offers a wide variety of reusable packages and a pattern
for new developments. It is up to developers how to combine these elements and
integrate them with decision-making for autonomous behavior. The feature of
such decision-making that is in general valued the most is safety assurance.
  In this research preview, we present a formal approach for generating safe
autonomous decision-making in ROS. We first describe how to improve our
existing static verification approach to verify multi-goal multi-agent
decision-making. After that, we describe how to transition from the improved
static verification approach to the proposed runtime verification approach. An
initial implementation of this research proposal yields promising results.
