This thesis describes the preliminary design of a system for remote terrain exploration and environmental sampling on worlds with dense atmospheres. The motivation for the system is to provide a platform for long-term scientific studies of these celestial bodies. The proposed system consists of three main components: a buoyancy-driven glider, designed to operate at low altitude; a tethered energy harvester, extracting wind energy at high altitudes; and a base station to recharge the gliders. This system is self-sustaining, extracting energy from the planetary boundary layer. A nine degree of freedom vehicle dynamic model has been developed for the buoyancydriven glider. This model was used to illustrate anecdotal evidence of the stability and controllability of the system. A representative system was simulated to examine the energy harvesting concept. / Master of Science