Field testing of robotic technologies to support ground ice prospecting in martian polygonal terrain

Abstract

Polygonal terrain, a landform commonly associated with the presence of ground ice, is widespread throughout the high latitudes on Mars. In this paper, we present the results of field testing a potential mission concept for the robotic prospecting of ground ice in polygonal terrain. The focus of the paper is on the key robotic technologies that could be used to implement the concept and the engineering lessons we learned (as opposed to the specific scientific findings of our field tests). In particular, we have found that a lander- or rover-mounted lidar and a rover-borne stereo camera/ground-penetrating radar suite are two important scientific tools that may be used to help pin-point ground ice prior to subsurface sampling. We field tested some aspects of this mission concept on a previously - unstudied polygonal terrain site on Devon Island in the Canadian High Arctic (a common Mars/Moon analogue site) during the summer of 2008. This unique collaboration between technological and scientific communities has led to a deeper understanding of how such a science-driven mission could actually be implemented robotically.