| Summary: | In Japan, aging of infrastructures, such as roads,
bridges, and water and sewer services, etc. poses a problem, and
it is required to extend the life-span of such infrastructures by
maintenance. Among infrastructures, especially bridges are
periodically inspected by short range visual observations, which
check the damage and deterioration of the surface. However,
since there are some cases where the short range visual
observation is difficult, an alternative method is required so as to
replace the short range visual observation with it. So, "X4-Flyer"
is very attractive because of realizing a movement at high altitude
easily. The objective of this study is to develop a tethered X4-
Flyer, so that the conventional short range visual observation of
bridges is replaced by it. In this paper, a method for the
measurement and control of the position is described by using a
tether for controlling the position of the X4-Flyer. In addition, it
is checked whether the tethered X4-Flyer can control the position
using the proposed method or not, letting it fly in a state in which
a tether is being attached.
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