arXiv subjects

Jitesh H. Panchal

Publications and source records attributed to Jitesh H. Panchal.

6 recordsLinked to original sources

arXiv2026

LLM4AD: Large Language Models for Autonomous Driving -- Concept, Review, Benchmark, Experiments, and Future Trends

With the broader adoption and highly successful development of Large Language Models (LLMs), there has been growing interest and demand for applying LLMs to autonomous driving technology. Driven by their natural language understanding and reasoning capabilities, LLMs have the potential to enhance various aspects of autonomous driving systems, from perception and scene understanding to interactive decision-making. This paper first introduces the novel concept of designing Large Language Models for Autonomous Driving (LLM4AD), followed by a review of existing LLM4AD studies. Then, a comprehensive benchmark is proposed for evaluating the instruction-following and reasoning abilities of LLM4AD systems, which includes LaMPilot-Bench, CARLA Leaderboard 1.0 Benchmark in simulation and NuPlanQA for multi-view visual question answering. Furthermore, extensive real-world experiments are conducted on autonomous vehicle platforms, examining both on-cloud and on-edge LLM deployment for personalized decision-making and motion control. Next, the future trends of integrating language diffusion models into autonomous driving are explored, exemplified by the proposed ViLaD (Vision-Language Diffusion) framework. Finally, the main challenges of LLM4AD are discussed, including latency, deployment, security and privacy, safety, trust and transparency, and personalization.

cs.RO↗

arXiv2025

Hybrid SIS Dynamics for Demand Modeling of Frequently Updated Products

We propose a hybrid spreading process model to capture the dynamics of demand for software-based products. We introduce discontinuous jumps in the state to model sudden surges in demand that can be seen immediately after a product update is released. After each update, the modeled demand evolves according to a continuous-time susceptible-infected-susceptible (SIS) epidemic model. We identify the necessary and sufficient conditions for estimating the hybrid model's parameters for an arbitrary finite number of sequential updates. We verify the parameter estimation conditions in simulation, and evaluate how the estimation of these parameters is impacted by the presence of observation and process noise. We then validate our model by applying our estimation method to daily user engagement data for a regularly updating software product, the live-service video game `Apex Legends.'

eess.SY↗

arXiv2022

Optimal Ordering Policies for Multi-Echelon Supply Networks

In this paper, we formulate an optimal ordering policy as a stochastic control problem where each firm decides the amount of input goods to order from their upstream suppliers based on the current inventory level of its output good. For this purpose, we provide a closed-form solution for the optimal request of the raw materials for given a fixed production policy. We implement the proposed policy on a 15-firm acyclic network based on a real product supply chain. We first simulate ideal demand situations, and then we implement demand-side shocks (i.e., demand levels outside of those considered in the policy formulation) and supply-side shocks (i.e., halts in production for some suppliers) to evaluate the robustness of the proposed policies.

math.OC↗

arXiv2021

Test and Evaluation Framework for Multi-Agent Systems of Autonomous Intelligent Agents

Test and evaluation is a necessary process for ensuring that engineered systems perform as intended under a variety of conditions, both expected and unexpected. In this work, we consider the unique challenges of developing a unifying test and evaluation framework for complex ensembles of cyber-physical systems with embedded artificial intelligence. We propose a framework that incorporates test and evaluation throughout not only the development life cycle, but continues into operation as the system learns and adapts in a noisy, changing, and contended environment. The framework accounts for the challenges of testing the integration of diverse systems at various hierarchical scales of composition while respecting that testing time and resources are limited. A generic use case is provided for illustrative purposes and research directions emerging as a result of exploring the use case via the framework are suggested.

eess.SY↗

arXiv2016

Risk Mitigation for Dynamic State Estimation Against Cyber Attacks and Unknown Inputs

Phasor measurement units (PMUs) can be effectively utilized for the monitoring and control of the power grid. As the cyber-world becomes increasingly embedded into power grids, the risks of this inevitable evolution become serious. In this paper, we present a risk mitigation strategy, based on dynamic state estimation, to eliminate threat levels from the grid's unknown inputs and potential cyber-attacks. The strategy requires (a) the potentially incomplete knowledge of power system models and parameters and (b) real-time PMU measurements. First, we utilize a dynamic state estimator for higher order depictions of power system dynamics for simultaneous state and unknown inputs estimation. Second, estimates of cyber-attacks are obtained through an attack detection algorithm. Third, the estimation and detection components are seamlessly utilized in an optimization framework to determine the most impacted PMU measurements. Finally, a risk mitigation strategy is proposed to guarantee the elimination of threats from attacks, ensuring the observability of the power system through available, safe measurements. Case studies are included to validate the proposed approach. Insightful suggestions, extensions, and open problems are also posed.

eess.SY↗

arXiv2015

Dynamic State Estimation under Cyber Attacks: A Comparative Study of Kalman Filters and Observers

Utilizing highly synchronized measurements from synchrophasors, dynamic state estimation (DSE) can be applied for real-time monitoring of smart grids. Concurrent DSE studies for power systems are intolerant to unknown inputs and potential attack vectors --- a research gap we will fill in this work. Particularly, we (a) present an overview of concurrent estimation techniques, highlighting key deficiencies, (b) develop DSE methods based on cubature Kalman filter and dynamic observers, (c) rigorously examine the strengths and weaknesses of the proposed methods under attack-vectors and unknown inputs, and (d) provide comprehensive recommendations for DSE. Numerical results and in-depth remarks are also presented.

eess.SY↗