The Evolution of Autonomous Systems for Planetary Cave Exploration: A Review

The Evolution of Autonomous Systems for Planetary Cave Exploration: A Review | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 17 April 2025 V1 Latest version Share on The Evolution of Autonomous Systems for Planetary Cave Exploration: A Review Authors : Sarah Swinton 0000-0002-2880-1155 [email protected] , Daniel Mitchell , Jamie Blanche , Euan McGookin , and David Flynn Authors Info & Affiliations https://doi.org/10.22541/au.174490063.34152714/v1 Published Journal of Field Robotics Version of record Peer review timeline 275 views 176 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract The exploration of Subsurface Access Points (SAPs), such as lava tubes on the Moon and Mars, has gained significant interest due to their potential as stable environments shielded from surface radiation and temperature extremes. These sites are considered high-value targets for detecting water, signs of ancient life, and assessing their suitability as habitats for human missions. However, SAP exploration presents significant challenges, including navigating unknown and hazardous terrains, operating in low-light conditions, and managing limited communication capabilities. Recent advances in high-resolution imaging, Synthetic Aperture Radar (SAR), and other sensing technologies have enabled better identification and characterization of SAPs, providing critical data for potential exploration missions. This review presents a structured critical analysis of the challenges in planetary cave exploration and evaluates the state of the art robotic platforms which offer a cost-effective and safe alternative to human exploration in hazardous environments, in addition to sensor technologies that aid the understanding of SAPs such as seismic studies, geological characterization, and biosignature detection. This article emphasizes the advantages of multi-robot teams in generating comprehensive datasets and improving mission resilience. By combining the unique capabilities of heterogeneous robotic systems, these teams represent a crucial step toward enabling the exploration of SAPs and advancing our understanding of planetary subsurface environments. Supplementary Material File (the evolution of autonomous systems for planetary cave exploration a review.docx) Download 6.58 MB Information & Authors Information Version history V1 Version 1 17 April 2025 Peer review timeline Published Journal of Field Robotics Version of Record 10 May 2026 Published Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords autonomous robot multi-robot cooperation planetary exploration space robotics Authors Affiliations Sarah Swinton 0000-0002-2880-1155 [email protected] University of Glasgow James Watt School of Engineering View all articles by this author Daniel Mitchell University of Glasgow James Watt School of Engineering View all articles by this author Jamie Blanche University of Glasgow James Watt School of Engineering View all articles by this author Euan McGookin University of Glasgow James Watt School of Engineering View all articles by this author David Flynn University of Glasgow James Watt School of Engineering View all articles by this author Metrics & Citations Metrics Article Usage 275 views 176 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Sarah Swinton, Daniel Mitchell, Jamie Blanche, et al. The Evolution of Autonomous Systems for Planetary Cave Exploration: A Review. Authorea . 17 April 2025. 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