This article introduces the extended versions of selected papers from the refereed proceedings of the 16th International Conference on Runtime Verification (RV 2016) held in Madrid, Spain, in September 2016. Runtime verification encompasses all aspects of monitoring and analysis of hardware, software, and system executions in general. Runtime verification techniques are lightweight dynamic techniques to assess and enforce correctness, reliability, and robustness during system execution. These techniques are significantly more powerful and versatile than conventional testing, and more practical than exhaustive formal verification (at the price of incomplete coverage).