TetherBot: A Power-Tethered sUAS Platform for Autonomous Vertical Atmospheric Profiling

Abstract

Resolving vertical gradients of atmospheric variables in agroecosystems is essential for understanding surface-atmosphere exchange. It is also critical for emerging carbon monitoring frameworks. Existing methods, such as eddy covariance towers and satellite remote sensing, provide observations with limited spatial resolution, leaving fine-scale structure undersampled. This work introduces TetherBot, a tethered robotic profiler integrated into the Tethered Aircraft Uncrewed System. The robot traverses a hoisted power tether, enabling persistent vertical profiling with synchronized sensing and telemetry. Field experiments across a 40 m transect demonstrated reliable operation. Barometric pressure provided consistent altitude, temperature resolved subtle stratification, and relative humidity revealed surface-layer variability. Carbon dioxide measurements were dominated by sensor noise, highlighting the need for higher-fidelity analyzers. These results demonstrate the feasibility of tethered robotic profiling as a viable approach for atmospheric monitoring. They establish a foundation for future multi-robot arrays and high-precision flux applications.