Core Viewpoint - The exploration of lava tubes on nearby planetary bodies is crucial for scientific research and space exploration, providing natural shielding against radiation and micrometeorites, making them suitable for preserving extraterrestrial biological signatures and protecting human-made facilities [1] Group 1: Exploration Concept - A lava tube exploration mission concept is defined, consisting of four mission phases executed by a heterogeneous team of three robots equipped with necessary hardware and software [1] - The mission concept has been validated in relevant scenarios, such as a lava tube on Lanzarote Island, Spain, where the robot team successfully constructed 3D models of the surrounding area and the entrance [1] Group 2: Robot Team Composition - The heterogeneous robot team comprises three robots: SherpaTT, Coyote III, and LUVMI-X [3] - SherpaTT conducts surface exploration and supports tethered operations, while Coyote III provides underground exploration capabilities and can descend into lava tubes [3] - LUVMI-X is designed to study lunar volatiles and can collaborate with SherpaTT for autonomous navigation and mapping [3][14] Group 3: Robot Specifications - SherpaTT is a hybrid wheeled-legged rover weighing approximately 210 kg, equipped with autonomous navigation and mapping capabilities, and has a maximum payload of 25 kg [10] - Coyote III is a lightweight (~20 kg) rover designed for rapid descent and exploration of narrow lava tubes, equipped with ground-penetrating radar (GPR) for underground exploration [11] - LUVMI-X is a cost-effective rover designed for resource potential studies, capable of carrying configurable payloads for various scientific tasks [14] Group 4: Advantages of the Mission Concept - The mission concept offers two main advantages: detailed representations of the surface and steep areas before tethered descent, ensuring only feasible traversable areas are attempted, thus reducing the complexity of autonomous navigation during controlled descent [14] - The exploration rover can detach from its tether, communication, and power systems, allowing for more flexible navigation within the cave [14]