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Wheeled ground robots are limited from exploring extreme environments such ascaves, lava tubes and skylights. Small robots that can utilize unconventionalmobility through hopping, flying or rolling can overcome these limitations.Mul-tiple robots operating as a team offer significant benefits over a singlelarge ro-bot, as they are not prone to single-point failure, enable distributedcommand and control and enable execution of tasks in parallel. These robots cancomplement large rovers and landers, helping to explore inaccessible sites,obtaining samples and for planning future exploration missions. Our robots, theSphereX, are 3-kg in mass, spherical and contain computers equivalent tocurrent smartphones. They contain an array of guidance, navigation and controlsensors and electronics. SphereX contains room for a 1-kg science payload,including for sample return. Our work in this field has recognized the need forminiaturized chemical mobility systems that provide power and propulsion. Ourresearch explored the use of miniature rockets, including solid rockets,bi-propellants including RP1/hydrogen-peroxide andpolyurethane/ammonium-perchlorate. These propulsion options provide maximumflight times of 10 minutes on Mars. Flying, especially hovering consumessignificant fuel; hence, we have been developing our robots to performballistic hops that enable the robots to travel efficiently over longdistances. Techniques are being developed to enable mid-course correctionduring a ballistic hop. Using multiple cameras, it is possible to reconstitutean image scene from motion blur. Hence our approach is to enable photo mappingas the robots travel on a ballistic hop. The same images would also be used fornavigation and path planning. Using our proposed design approach, we aredeveloping low-cost methods for surface exploration of planetary bodies using anetwork of small robots.

GNC of the SphereX Robot for Extreme Environment Exploration on Mars