  This document presents the study conducted during the European Moon Rover
System Pre-Phase A project, in which we have developed a lunar rover system,
with a modular approach, capable of carrying out different missions with
different objectives. This includes excavating and transporting over 200kg of
regolith, building an astrophysical observatory on the far side of the Moon,
placing scientific instrumentation at the lunar south pole, or studying the
volcanic history of our satellite. To achieve this, a modular approach has been
adopted for the design of the platform in terms of locomotion and mobility,
which includes onboard autonomy, of course. A modular platform allows for
accommodating different payloads and allocating them in the most advantageous
positions for the mission they are going to undertake (for example, having
direct access to the lunar surface for the payloads that require it), while
also allowing for the relocation of payloads and reconfiguring the rover design
itself to perform completely different tasks.
