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 are many hurdles to overcome to achieve robust loitering performance in balloon-based applications. We attempt to identify design and control challenges, and propose a novel robotic platform that allows for the application of balloons in the reconnaissance and perception of Mars craters. This work briefly covers our suggested actuation and Model Predictive Control design framework for steering such balloon systems. We propose the coordinated servoing of multiple unmanned ground vehicles (UGVs) to regulate tension forces in a cable-driven balloon to which an underactuated hanging payload is attached.

翻译：在所有这些解决办法中,气球基系统拥有使其极具吸引力的优点,例如,一个简单的操作机制和耐久的操作时间;然而,在气球应用中实现稳健游动性能有许多障碍有待克服;我们试图确定设计和控制方面的挑战,并提出一个新的机器人平台,以便在火星弹坑的侦察和感知中应用气球;这项工作简要地涵盖了我们为引导这种气球系统而建议的操作和模型预测控制设计框架;我们提议对多辆无人驾驶地面飞行器(UGVs)进行协调的转动,以在配有低活性悬浮载载荷的电缆驱动气球中调节紧张力量。