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Wheeled ground robots are limited from exploring extreme environments such ascaves, lava tubes and skylights. Small robots that utilize unconventionalmobility through hopping, flying and rolling can overcome many roughnesslimitations and thus extend exploration sites of interest on Moon and Mars. Inthis paper we introduce a network of 3 kg, 0.30 m diameter ball robots(pit-bots) that can fly, hop and roll using an onboard miniature propulsionsystem. These pit-bots can be deployed from a lander or large rover. Each robotis equipped with a smartphone sized computer, stereo camera and laserrangefinder to per-form navigation and mapping. The ball robot can carry apayload of 1 kg or perform sample return. Our studies show a range of 5 km and0.7 hours flight time on the Moon.

Flying, Hopping Pit-Bots for Cave and Lava Tube Exploration on the Moon and Mars