I. Motivation
DESPITE the great successes of the Mars Exploration Rovers [1], some of the richest potential science targets for future exploration missions lie in terrains that are inaccessible to state-of-the-art Martian rovers, thereby limiting our ability to carry out in situ analysis of these rich opportunities. For example, bright new deposits, which may be ice flows, have been discovered hundreds of meters below the rims of steep craters in the Centauri Montes regions on Mars (Figure 1).