  One of the fundamental limiting factors in planetary exploration is the
autonomous capabilities of planetary exploration rovers. This study proposes a
novel methodology for trustworthy autonomous multi-robot teams which
incorporates data from multiple sources (HiRISE orbiter imaging, probability
distribution maps, and on-board rover sensors) to find efficient exploration
routes in Jezero crater. A map is generated, consisting of a 3D terrain model,
traversability analysis, and probability distribution map of points of
scientific interest. A three-stage mission planner generates an efficient
route, which maximises the accumulated probability of identifying points of
interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and
prioritised planning is used to coordinate a safe set of paths. The above
methodology is shown to coordinate safe and efficient rover paths, which ensure
the rovers remain within their nominal pitch and roll limits throughout
operation.
