Abstract--Mobile Edge Computing (MEC) offers low-latency and high-bandwidth support for Internet-of-Vehicles (IoV) applications. However, due to high vehicle mobility and finite communication coverage of base stations, it is hard to maintain uninterrupted and high-quality services without proper service migration among MEC servers. Existing solutions commonly rely on prior knowledge and rarely consider efficient resource allocation during the service migration process, making it hard to reach optimal performance in dynamic IoV environments. To address these important challenges, we propose SR-CL, a novel mobility-aware seamless Service migration and Resource allocation framework via Convex-optimization-enabled deep reinforcement Learning in multi-edge IoV systems. First, we decouple the Mixed Integer Nonlinear Programming (MINLP) problem of service migration and resource allocation into two sub-problems. Next, we design a new actor-critic-based asynchronous-update deep reinforcement learning method to handle service migration, where the delayed-update actor makes migration decisions and the one-step-update critic evaluates the decisions to guide the policy update. Notably, we theoretically derive the optimal resource allocation with convex optimization for each MEC server, thereby further improving system performance. Using the real-world datasets of vehicle trajectories and testbed, extensive experiments are conducted to verify the effectiveness of the proposed SR-CL. Compared to benchmark methods, the SR-CL achieves superior convergence and delay performance under various scenarios. However, the real-time demands of IoV applications pose When vehicles offload tasks, MEC servers create dedicated significant challenges for onboard processors with limited service instances via virtualization techniques for the vehicles computational capabilities [2]. Although Cloud Computing and allocate proper resources to them [7].

Managing equal charge levels in active cell balancing while charging a Li-ion battery is challenging. An imbalance in charge levels affects the state of health of the battery, along with the concerns of thermal runaway and fire hazards. Traditional methods focus on safety assurance as a trade-off between safety and charging time. Others deal with battery-specific conditions to ensure safety, therefore losing on the generalization of the control strategies over various configurations of batteries. In this work, we propose a method to learn safe battery charging actions by using a safety-layer as an add-on over a Deep Reinforcement Learning (RL) agent. The safety layer perturbs the agent's action to prevent the battery from encountering unsafe or dangerous states. Further, our Deep RL framework focuses on learning a generalized policy that can be effectively employed with varying configurations of batteries. Our experimental results demonstrate that the safety-layer based action perturbation incurs fewer safety violations by avoiding unsafe states along with learning a robust policy for several battery configurations.

Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation framework that uses event-based neuromorphic vision to enable efficient, real-time navigation in robotic systems. We discuss the core concepts of neuromorphic vision and navigation, highlighting their impact on improving robotic perception and decision-making. The proposed reconfigurable Neuromorphic Navigation framework adapts to the specific needs of both ground robots (Turtlebot) and aerial robots (Bebop2 quadrotor), addressing the task-specific design requirements (algorithms) for optimal performance across the autonomous navigation stack -- Perception, Planning, and Control. We demonstrate the versatility and the effectiveness of the framework through two case studies: a Turtlebot performing local replanning for real-time navigation and a Bebop2 quadrotor navigating through moving gates. Our work provides a scalable approach to task-specific, real-time robot autonomy leveraging neuromorphic systems, paving the way for energy-efficient autonomous navigation.

The next generation of active safety features in autonomous vehicles should be capable of safely executing evasive hazard-avoidance maneuvers akin to those performed by professional stunt drivers to achieve high-agility motion at the limits of vehicle handling. This paper presents a novel framework, ManeuverGPT, for generating and executing high-dynamic stunt maneuvers in autonomous vehicles using large language model (LLM)-based agents as controllers. We target aggressive maneuvers, such as J-turns, within the CARLA simulation environment and demonstrate an iterative, prompt-based approach to refine vehicle control parameters, starting tabula rasa without retraining model weights. We propose an agentic architecture comprised of three specialized agents (1) a Query Enricher Agent for contextualizing user commands, (2) a Driver Agent for generating maneuver parameters, and (3) a Parameter Validator Agent that enforces physics-based and safety constraints. Experimental results demonstrate successful J-turn execution across multiple vehicle models through textual prompts that adapt to differing vehicle dynamics. We evaluate performance via established success criteria and discuss limitations regarding numeric precision and scenario complexity. Our findings underscore the potential of LLM-driven control for flexible, high-dynamic maneuvers, while highlighting the importance of hybrid approaches that combine language-based reasoning with algorithmic validation.

This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the refined dynamics of rotor drones considering VD disturbance are presented. Based on the dynamics, a voltage drop observer (VDO) is developed to accurately estimate the VD disturbance by decoupling the disturbance and state information of the drone, reducing the conservativeness of conventional disturbance observers. Subsequently, the control scheme integrates the VDO within the translational loop and a fixed-time sliding mode observer (SMO) within the rotational loop, enabling it to address force and torque disturbances caused by voltage drop of the battery. Sufficient real flight experiments are conducted to demonstrate the effectiveness of the proposed control scheme under VD disturbance.

The Shallow Recurrent Decoder networks are a novel paradigm recently introduced for state estimation, combining sparse observations with high-dimensional model data. This architecture features important advantages compared to standard data-driven methods including: the ability to use only three sensors (even randomly selected) for reconstructing the entire dynamics of a physical system; the ability to train on compressed data spanned by a reduced basis; the ability to measure a single field variable (easy to measure) and reconstruct coupled spatio-temporal fields that are not observable and minimal hyper-parameter tuning. This approach has been verified on different test cases within different fields including nuclear reactors, even though an application to a real experimental facility, adopting the employment of in-situ observed quantities, is missing. This work aims to fill this gap by applying the Shallow Recurrent Decoder architecture to the DYNASTY facility, built at Politecnico di Milano, which studies the natural circulation established by internally heated fluids for Generation IV applications, especially in the case of Circulating Fuel reactors. The RELAP5 code is used to generate the high-fidelity data, and temperature measurements extracted by the facility are used as input for the state estimation. The results of this work will provide a validation of the Shallow Recurrent Decoder architecture to engineering systems, showing the capabilities of this approach to provide and accurate state estimation.

The recent developments in data-driven methods have paved the way to new methodologies to provide accurate state reconstruction of engineering systems; nuclear reactors represent particularly challenging applications for this task due to the complexity of the strongly coupled physics involved and the extremely harsh and hostile environments, especially for new technologies such as Generation-IV reactors. Data-driven techniques can combine different sources of information, including computational proxy models and local noisy measurements on the system, to robustly estimate the state. This work leverages the novel Shallow Recurrent Decoder architecture to infer the entire state vector (including neutron fluxes, precursors concentrations, temperature, pressure and velocity) of a reactor from three out-of-core time-series neutron flux measurements alone. In particular, this work extends the standard architecture to treat parametric time-series data, ensuring the possibility of investigating different accidental scenarios and showing the capabilities of this approach to provide an accurate state estimation in various operating conditions. This paper considers as a test case the Molten Salt Fast Reactor (MSFR), a Generation-IV reactor concept, characterised by strong coupling between the neutronics and the thermal hydraulics due to the liquid nature of the fuel. The promising results of this work are further strengthened by the possibility of quantifying the uncertainty associated with the state estimation, due to the considerably low training cost. The accurate reconstruction of every characteristic field in real-time makes this approach suitable for monitoring and control purposes in the framework of a reactor digital twin.

We integrate a meta-reinforcement learning algorithm with the DreamerV3 architecture to improve load balancing in operating systems. This approach enables rapid adaptation to dynamic workloads with minimal retraining, outperforming the Advantage Actor-Critic (A2C) algorithm in standard and adaptive trials. It demonstrates robust resilience to catastrophic forgetting, maintaining high performance under varying workload distributions and sizes. These findings have important implications for optimizing resource management and performance in modern operating systems. By addressing the challenges posed by dynamic and heterogeneous workloads, our approach advances the adaptability and efficiency of reinforcement learning in real-world system management tasks.

This paper studies the linear quadratic regulation (LQR) problem of unknown discrete-time systems via dynamic output feedback learning control. In contrast to the state feedback, the optimality of the dynamic output feedback control for solving the LQR problem requires an implicit condition on the convergence of the state observer. Moreover, due to unknown system matrices and the existence of observer error, it is difficult to analyze the convergence and stability of most existing output feedback learning-based control methods. To tackle these issues, we propose a generalized dynamic output feedback learning control approach with guaranteed convergence, stability, and optimality performance for solving the LQR problem of unknown discrete-time linear systems. In particular, a dynamic output feedback controller is designed to be equivalent to a state feedback controller. This equivalence relationship is an inherent property without requiring convergence of the estimated state by the state observer, which plays a key role in establishing the off-policy learning control approaches. By value iteration and policy iteration schemes, the adaptive dynamic programming based learning control approaches are developed to estimate the optimal feedback control gain. In addition, a model-free stability criterion is provided by finding a nonsingular parameterization matrix, which contributes to establishing a switched iteration scheme. Furthermore, the convergence, stability, and optimality analyses of the proposed output feedback learning control approaches are given. Finally, the theoretical results are validated by two numerical examples.

Due to climate change, the extreme wildfire has become one of the most dangerous natural hazards to human civilization. Even though, some wildfires may be initially caused by human activity, but the spread of wildfires is mainly determined by environmental factors, for examples, (1) weather conditions such as temperature, wind direction and intensity, and moisture levels; (2) the amount and types of dry vegetation in a local area, and (3) topographic or local terrian conditions, which affects how much rain an area gets and how fire dynamics will be constrained or faciliated. Thus, to accurately forecast wildfire occurrence has become one of most urgent and taunting environmental challenges in global scale. In this work, we developed a real-time Multimodal Transformer Neural Network Machine Learning model that combines several advanced artificial intelligence techniques and statistical methods to practically forecast the occurrence of wildfire at the precise location in real time, which not only utilizes large scale data information such as hourly weather forecasting data, but also takes into account small scale topographical data such as local terrain condition and local vegetation conditions collecting from Google Earth images to determine the probabilities of wildfire occurrence location at small scale as well as their timing synchronized with weather forecast information. By using the wildfire data in the United States from 1992 to 2015 to train the multimodal transformer neural network, it can predict the probabilities of wildfire occurrence according to the real-time weather forecast and the synchronized Google Earth image data to provide the wildfire occurrence probability in any small location ($100m^2$) within 24 hours ahead.