Multi-tier Multi-agent Autonomous Robotic Planetary Surface/subsurface Reconnaissance for Life

PLANETARY SURFACE/SUBSURFACE RECONNAISSANCE FOR LIFE W. Fink, J.M. Dohm, M.A. Tarbell, T.M. Hare, V.R. Baker, D. Schulze-Makuch, R. Furfaro, A.G. Fairén, T.P.A. Ferré, H. Miyamoto, G. Komatsu, W.C. Mahaney, California Institute of Technology, Visual and Autonomous Exploration Systems Research Laboratory, Division of Physics, Mathematics and Astronomy, Mail Code 103-33, Pasadena, CA 91125, [email protected], Dept. of Hydrology and Water Resources, University of Arizona, Tucson, AZ, United States Geologic Survey, Flagstaff, AZ, Dept. of Geology, Washington State University, Pullman, WA, Aerospace and Mechanical Engineering Dept., University of Arizona, Tucson, AZ, Centro de Biología Molecular, Universidad Autónoma de Madrid, Madrid, Spain, Department of Geosystem Engineering, University of Tokyo, Tokyo, Japan, International Research School of Planetary Sciences, Universita’ d’Annunzio, Pescara, Italy, Geomorphology and Pedology Laboratory, York University, Canada