The purpose of this research is to demonstrate safety for autonomous systems in the presence of bounded disturbances by enforcing a Signal Temporal Logic (STL) formula online. Specifically, this research develops a framework to formally guarantee safety with a runtime assurance mechanism. This architecture perturbs a nominal control sequence at each point in discrete time while providing mathematical guarantees. This runtime assurance architecture is implemented by a mixed-integer convex program solved in a receding-horizon fashion which is tractable for short specifications. The research methods throughout this proposal are demonstrated on a miniature autonomous blimp platform. An interval extension of signal temporal logic is developed to handle interval disturbances and uncertain environments modelled by inclusion functions. Future research will demonstrate enforcing an STL specification on the physical blimp despite interval-valued uncertainty, develop computational methods to enable more complicated specification enforcement with a trade-off for conservatism, and investigate using a physics-informed neural network to control the blimp while preserving safety guarantees.