2026-09-21T21:45:13Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/45494 2023-07-11 col_2142_14800 col_2142_5131 com_2142_14799 com_2142_234 com_2142_5130

Namachchivaya, N. Sri Mamlouk, Mahmoud 2013-08-22T16:42:06Z 2013-08-22T16:42:06Z 2013-08 2013-08-22T16:42:06Z 2013-08 "This thesis is divided in two parts. First, after presenting the modeling of the system in the deterministic and stochastic case, the controllability of one, then two Unmanned Aerial Vehicles (UAVs) manoeuvring in a two-vortex flow field is proven in the nonlinear case. In the second part, we develop a complete algorithm for optimally controlled sensor platform in a vortex flowfield. The question raised is: ""How to control a UAV network evolving in a set of two vortices to collect the best data from these vortices?"". The control part is based on information theory where the cost function is built using the the Kullback Leibler measure. The sensor platform is evolving in a vortex environment which is not controlled, yet has random initial conditions. Also, it is assumed that the UAVs are observed and that their positions are completely known. Thus we consider their dynamics as the only information available on the vortices. The sensor platform is in charge of finding the location that will contain the best information before actually getting the measurements from that place. We collect exclusively useful data by tracking the position that is expected to contain the best information using a specific information metric." Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-07-10T14:38:30Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 8 systemsetup.tex: 34728 bytes, checksum: fea385200444884341cd56baf5a1a0d9 (MD5) introduction.tex: 36524 bytes, checksum: a5f2b902eb23f37f050c482375748572 (MD5) controllability.tex: 21998 bytes, checksum: a37def0ece07db4dd115c4b9dace6b45 (MD5) control.tex: 53290 bytes, checksum: 411ea75b6fe363c0087513bac81e2c7c (MD5) concl.tex: 1699 bytes, checksum: 4bfe785a9089a49fd9b50fb14b554883 (MD5) abs.tex: 1236 bytes, checksum: d9727c9c5f17f37074c823aaad6d6037 (MD5) thesis.tex: 19495 bytes, checksum: 9b5eef12100f381e1a1b5ef83dfe3c88 (MD5) Mamlouk_Mahmoud.pdf: 1492747 bytes, checksum: 0860df6139455aa5eaeb528989a88d9b (MD5) Made available in DSpace on 2013-08-22T16:42:06Z (GMT). No. of bitstreams: 9 Mahmoud_Mamlouk.pdf: 1492747 bytes, checksum: 0860df6139455aa5eaeb528989a88d9b (MD5) systemsetup.tex: 34728 bytes, checksum: fea385200444884341cd56baf5a1a0d9 (MD5) introduction.tex: 36524 bytes, checksum: a5f2b902eb23f37f050c482375748572 (MD5) controllability.tex: 21998 bytes, checksum: a37def0ece07db4dd115c4b9dace6b45 (MD5) control.tex: 53290 bytes, checksum: 411ea75b6fe363c0087513bac81e2c7c (MD5) concl.tex: 1699 bytes, checksum: 4bfe785a9089a49fd9b50fb14b554883 (MD5) abs.tex: 1236 bytes, checksum: d9727c9c5f17f37074c823aaad6d6037 (MD5) thesis.tex: 19495 bytes, checksum: 9b5eef12100f381e1a1b5ef83dfe3c88 (MD5) license.txt: 4065 bytes, checksum: 42f92df5de364e9b833cf25876552e67 (MD5) http://hdl.handle.net/2142/45494 en Copyright 2013 Mahmoud Mamlouk Unmanned Aerial Vehicle (UAV) extended Kalman filter data assimiliation Kullback Leibler measure Information based sensor control in a two-vortex flowfield text Aerospace Engineering 1615 Aerospace Engineering 4048 University of Illinois at Urbana-Champaign Thesis M.S. MS: Aerospace Engr -UIUC 10KS4048MS