  NASA's SLS and Orion crew vehicle will launch humans to cislunar space to
begin the new era of space exploration. NASA plans to use the Orion crew
vehicle to transport humans between Earth and cislunar space where there will
be a stationed habitat known as the Deep Space Gateway (DSG). The proximity to
the lunar surface allows for direct communication between the DSG and surface
assets, which enables low-latency telerobotic exploration. The operational
constraints for telerobotics must be fully explored on Earth before being
utilized on space exploration missions. We identified two constraints on space
exploration using low-latency surface telerobotics and attempts to quantify
these constraints. A constraint associated with low-latency surface
telerobotics is the bandwidth available between the orbiting command station
and the ground assets. The bandwidth available will vary during operation. As a
result, it is critical to quantify the operational video conditions required
for effective exploration. We designed an experiment to quantify the threshold
frame rate required for effective exploration. The experiment simulated
geological exploration via low-latency surface telerobotics using a COTS rover
in a lunar analog environment. The results from this experiment indicate that
humans should operate above a threshold frame rate of 5 frames per second. In a
separate, but similar experiment, we introduced a 2.6 second delay in the video
system. This delay recreated the latency conditions present when operating
rovers on the lunar farside from an Earth-based command station. This time
delay was compared to low-latency conditions for teleoperation at the DSG
($\leq$0.4 seconds). The results from this experiment show a 150% increase in
exploration time when the latency is increased to 2.6 seconds. This indicates
that such a delay significantly complicates real-time exploration strategies.
