University of Illinois Urbana-Champaign

Information based sensor control in a two-vortex flowfield

Mamlouk, Mahmoud

Content Files
Mahmoud_Mamlouk.pdf

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https://hdl.handle.net/2142/45494

Description

Title
Information based sensor control in a two-vortex flowfield
Author(s)
Mamlouk, Mahmoud
Issue Date
2013-08-22T16:42:06Z
Director of Research (if dissertation) or Advisor (if thesis)
Namachchivaya, N. Sri
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Date of Ingest
2013-08-22T16:42:06Z
Keyword(s)
  • Unmanned Aerial Vehicle (UAV)
  • extended Kalman filter
  • data assimiliation
  • Kullback Leibler measure
Abstract
"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."
Graduation Semester
2013-08
Permalink
http://hdl.handle.net/2142/45494
Copyright and License Information
Copyright 2013 Mahmoud Mamlouk

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