“…More recently, there has been a tremendous interest in controllable unmanned airships as aerial inspection platforms due to their stability properties (Elves, Bueno, Bergerman, & Ramos, 1998;Elves, Bergerman, & Bueno, 2001;Kantor, Wettergreen, Ostrowski, & Singh, 2001;Hima & Bestaoui, 2002;Khoury & Gillett, 1999;Wells, 1995;Wimmer & Well, 2001).…”