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Information from the sky is important for rescue activity in large-scaledisaster or dangerous areas. Observation system using a balloon or an airplanehas been studied as an information gathering system from the sky. A balloonobservation system needs helium gas and relatively long time to be ready. Anairplane observation system can be prepared in a short time and its mobility isgood. However, a long time flight is difficult because of limited amount offuel.  This paper proposes a kite-based observation system that complementsactivities of balloon and airplane observation systems by short preparationtime and long time flight. This research aims at construction of the autonomousflight information gathering system using a tethered flying unit that consistsof the kite and the ground tether line control unit with a winding machine.This paper reports development of the kite type tethered flying robot and anautonomous flying control system inspired by how to fly a kite by a human.

Tethered Flying Robot for Information Gathering System