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The feasibility of performing airborne and ground manipulation, perception,and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats,SmallSats and more have been evaluated before. Among all of these solutions,balloon-based systems possess merits that make them extremely attractive, e.g.,a simple operation mechanism and endured operation time. However, there aremany hurdles to overcome to achieve robust loitering performance inballoon-based applications. We attempt to identify design and controlchallenges, and propose a novel robotic platform that allows for theapplication of balloons in the reconnaissance and perception of Mars craters.This work briefly covers our suggested actuation and Model Predictive Controldesign framework for steering such balloon systems. We propose the coordinatedservoing of multiple unmanned ground vehicles (UGVs) to regulate tension forcesin a cable-driven balloon to which an underactuated hanging payload isattached.

Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs