There is a growing interest in integrating Large Language Models (LLMs) with autonomous driving (AD) systems. However, AD systems are vulnerable to attacks against their object detection and tracking (ODT) functions. Unfortunately, our evaluation of four recent LLM agents against ODT attacks shows that the attacks are 63.26% successful in causing them to crash or violate traffic rules due to (1) misleading memory modules that provide past experiences for decision making, (2) limitations of prompts in identifying inconsistencies, and (3) reliance on ground truth perception data. In this paper, we introduce Hudson, a driving reasoning agent that extends prior LLM-based driving systems to enable safer decision making during perception attacks while maintaining effectiveness under benign conditions. Hudson achieves this by first instrumenting the AD software to collect real-time perception results and contextual information from the driving scene. This data is then formalized into a domain-specific language (DSL). To guide the LLM in detecting and making safe control decisions during ODT attacks, Hudson translates the DSL into natural language, along with a list of custom attack detection instructions. Following query execution, Hudson analyzes the LLM's control decision to understand its causal reasoning process. We evaluate the effectiveness of Hudson using a proprietary LLM (GPT-4) and two open-source LLMs (Llama and Gemma) in various adversarial driving scenarios. GPT-4, Llama, and Gemma achieve, on average, an attack detection accuracy of 83. 3%, 63. 6%, and 73. 6%. Consequently, they make safe control decisions in 86.4%, 73.9%, and 80% of the attacks. Our results, following the growing interest in integrating LLMs into AD systems, highlight the strengths of LLMs and their potential to detect and mitigate ODT attacks.

Achieving control stability is one of the key design challenges of scalable Wireless Networked Control Systems (WNCS) under limited communication and computing resources. This paper explores the use of an alternative control concept defined as tail-based control, which extends the classical Linear Quadratic Regulator (LQR) cost function for multiple dynamic control systems over a shared wireless network. We cast the control of multiple control systems as a network-wide optimization problem and decouple it in terms of sensor scheduling, plant state prediction, and control policies. Toward this, we propose a solution consisting of a scheduling algorithm based on Lyapunov optimization for sensing, a mechanism based on Gaussian Process Regression (GPR) for state prediction and uncertainty estimation, and a control policy based on Reinforcement Learning (RL) to ensure tail-based control stability. A set of discrete time-invariant mountain car control systems is used to evaluate the proposed solution and is compared against four variants that use state-of-the-art scheduling, prediction, and control methods. The experimental results indicate that the proposed method yields 22% reduction in overall cost in terms of communication and control resource utilization compared to state-of-the-art methods.

Dynamic control is emerging as an effective methodology for operating stormwater systems under stress from rapidly evolving weather patterns. Informed by rainfall predictions and real-time sensor measurements, control assets in the stormwater network can be dynamically configured to tune the behavior of the stormwater network to reduce the risk of urban flooding, equalize flows to the water reclamation facilities, and protect the receiving water bodies. However, developing such control strategies requires significant human and computational resources, and a methodology does not yet exist for quantifying the risks associated with implementing these control strategies. To address these challenges, in this paper, we introduce a Bayesian Optimization-based approach for identifying stormwater control strategies and estimating the associated uncertainties. We evaluate the efficacy of this approach in identifying viable control strategies in a simulated environment on real-world inspired combined and separated stormwater networks. We demonstrate the computational efficiency of the proposed approach by comparing it against a Genetic algorithm. Furthermore, we extend the Bayesian Optimization-based approach to quantify the uncertainty associated with the identified control strategies and evaluate it on a synthetic stormwater network. To our knowledge, this is the first-ever stormwater control methodology that quantifies uncertainty associated with the identified control actions. This Bayesian optimization-based stormwater control methodology is an off-the-shelf control approach that can be applied to control any stormwater network as long we have access to the rainfall predictions, and there exists a model for simulating the behavior of the stormwater network.

The steady evolution of the Open RAN concept sheds light on xApps and their potential use cases in O-RANcompliant deployments. There are several areas where xApps can be used that are being widely investigated, but the issue of mitigating conflicts between xApp decisions requires further in-depth investigation. This article defines a conflict mitigation framework (CMF) built into the existing O-RAN architecture; it enables the Conflict Mitigation component in O-RAN's Near- Real-Time RAN Intelligent Controller (Near-RT RIC) to detect and resolve all conflict types defined in the O-RAN Alliance's technical specifications. Methods for detecting each type of conflict are defined, including message flows between Near-RT RIC components. The suitability of the proposed CMF is proven with a simulation of an O-RAN network. Results of the simulation show that enabling the CMF allows balancing the network control capabilities of conflicting xApps to significantly improve network performance, with a small negative impact on its reliability. It is concluded that defining a unified CMF in Near-RT RIC is the first step towards providing a standardized method of conflict detection and resolution in O-RAN environments.

An epistemic model for decentralized discrete-event systems with non-binary control is presented. This framework combines existing work on conditional control decisions with existing work on formal reasoning about knowledge in discrete-event systems. The novelty in the model presented is that the necessary and sufficient conditions for problem solvability encapsulate the actions that supervisors must take. This direct coupling between knowledge and action -- in a formalism that mimics natural language -- makes it easier, when the problem conditions fail, to determine how the problem requirements should be revised.

We propose a new approach for power control in wireless networks using self-supervised learning. We partition a multi-layer perceptron that takes as input the channel matrix and outputs the power control decisions into a backbone and a head, and we show how we can use contrastive learning to pre-train the backbone so that it produces similar embeddings at its output for similar channel matrices and vice versa, where similarity is defined in an information-theoretic sense by identifying the interference links that can be optimally treated as noise. The backbone and the head are then fine-tuned using a limited number of labeled samples. Simulation results show the effectiveness of the proposed approach, demonstrating significant gains over pure supervised learning methods in both sum-throughput and sample efficiency.

We propose an approach for meeting real-time constraints in AI systems that views (1) time as a resource that should be considered when making control decisions, (2) plans as ways of expressing control decisions, and (3) approximate processing as a way of satisfying time constraints that cannot be achieved through normal processing. In this approach, a real-time problem solver estimates the time required to generate solutions and their quality. This estimate permits the system to anticipate whether the current objectives will be met in time. The system can then take corrective actions and form lower-quality solutions within the time constraints. These actions can involve modifying existing plans or forming radically different plans that utilize only rough data characteristics and approximate knowledge to achieve a desired speedup.

Social influence has no small effect on the preferences and behavior of agents in a social space. Contrary to rationality, we sometimes compromise our own needs for those of others. Thus, social influence has important implications in agent cognitive modeling for multi-objective decision-making problems. Namely, where these activities occur within a social context, the intentional preferences or utility of an agent may be subsumed, to a greater or lesser degree, by the influences of other agents. In this paper, a socially-aware model predictive controller is proposed using a social influence network theory and applied to a HVAC control problem. It transforms individual agent utility to socially-influenced utility reflecting interagent influences due to their existing relationships.

Successfully accomplishing everyday manipulation tasks requires robots to have substantial knowledge about the objects they interact with, the environment they operate in as well as about the properties and effects of the actions they perform. Often, this knowledge is implicitly contained in manually written control programs, which makes it hard for the robot to adapt to newly acquired information or to re-use knowledge in a different context. By explicitly representing this knowledge, control decisions can be formulated as inference tasks which can be sent as queries to a knowledge base. This allows the robot to take all information it has at query time into account to generate answers, leading to better flexibility, adaptability to changing situations, robustness, and the ability to re-use knowledge once acquired. In this paper, we report on our work towards a practical and grounded knowledge representation and inference system. The system is specifically designed to meet the challenges created by using knowledge processing techniques on autonomous robots, including specialized inference methods, grounding of symbolic knowledge in the robot's control structures, and the acquisition of the different kinds of knowledge a robot needs.

The Neurothermostat is an adaptive controller that regulates indoor air temperature in a residence by switching a furnace on or off. The task is framed as an optimal control problem in which both comfort and energy costs are considered as part of the control objective. Because the consequences of control decisions are delayed in time, the N eurothermostat must anticipate heating demands with predictive models of occupancy patterns and the thermal response of the house and furnace. Occupancy pattern prediction is achieved by a hybrid neural net / lookup table. The Neurothermostat searches, at each discrete time step, for a decision sequence that minimizes the expected cost over a fixed planning horizon.