Evolution of ground-based gamma-ray astronomy from the early days to the Cherenkov Telescope Arrays

Most of what we know of cosmic gamma rays has come from spacecraft, but at energies above tens of GeV it has become possible to make observations with ground-based detectors of enormously greater collecting area. In recent years one such detector type, the cluster of imaging air Cherenkov telescopes, has reached a very productive state, whilst several alternative approaches have been explored, including converted solar power collectors and novel high-altitude particle shower detectors which promised to extend the energy range covered. Key examples of development from 1952 to 2011 are followed, noting the problems and discoveries that stimulated the current work, explaining the logic of the alternative approaches that were taken. The merits of the current major Cherenkov observatories and of other viable detectors are examined and compared, with examples of the astrophysical information they are beginning to provide. The detectors are still evolving, as we still do not understand the processes onto which the gamma rays provide a window. These include the acceleration of Galactic cosmic rays (in particular, the wide-band spectra of radiation from some individual supernova remnants are still hard to interpret), the highly relativistic and variable jets from active galactic nuclei, and aspects of the electrodynamics of pulsars. Larger groups of Cherenkov telescopes still offer the possibility of an increase in power of the technique for resolvable Galactic sources especially.