  Information from the sky is important for rescue activity in large-scale
disaster or dangerous areas. Observation system using a balloon or an airplane
has been studied as an information gathering system from the sky. A balloon
observation system needs helium gas and relatively long time to be ready. An
airplane observation system can be prepared in a short time and its mobility is
good. However, a long time flight is difficult because of limited amount of
fuel.
  This paper proposes a kite-based observation system that complements
activities of balloon and airplane observation systems by short preparation
time and long time flight. This research aims at construction of the autonomous
flight information gathering system using a tethered flying unit that consists
of 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 an
autonomous flying control system inspired by how to fly a kite by a human.
