Information gathering strategies for a combined Martian
system of aerobots and rovers

Abstract: Future Mars missions will involve aerial and surface robotics. Previous
studies have examined the possibility of using a single robotic balloon in
the Martian atmosphere to obtain meteorological and topological data. It
may be advantageous, however, to use a combination of aerobots along with
surface rovers to map and study Mars. This combined system will be much
more effective if the different elements are working in tandem to gather
complementary information. The aim of this thesis is to investigate
cooperative strategies for exploring a given piece of Martian terrain using
a system comprising several different elements. Various aerobot concepts
and rovers are reviewed, the capabilities of different types of aerobots
and rovers were compared, and a trade-off was made to select a preferred
system. Collaboration strategies developed between aerobots and rovers
enable them to navigate and explore the target terrain with greater
precision and reduced intervention from mission control on Earth. An
airship + tethered depot + nanorovers architecture resulted as the best
resolution. A suite of instruments were configured to gather useful
information. It is concluded that heterogeneous robotics with a
complementary suite of instruments work in concert will greatly increase
the mission value.