In addition, the PAARV can be made to carry such miniature robot submarines as the miniature autonomous submersible explorer (MASE), that are built to explore extreme environments such as sub-glacial lakes, deep-ocean hydrothermal vents, acidic or alkaline lakes, brine lenses in permafrost, and ocean regions under Antarctic ice shelves .
Now the crucial question: how does one determine when and where each of these robots is necessary? It would be easy to say, “Survey an area first, analyze the obtained data and carry out further explorations”. However, what if radio communication with earth is not always available? One solution may be to enhance communication networks by employing multiple relay points from ground units as well as airborne drones. Systems such as "Bioinspired Engineering of Exploration Systems" (BEES)  can be used, which mimic natural explores like honey bees to develop algorithms.
A more robust system would be to actually assign the role of leader to a drone and let the companion of robots act as a ‘herd’ in exploring the terrain . The designated leader would issue commands to move the robots to different locations or aim sensors at different targets to maximize scientific return. Here, a potential field approach can be used to identify places of interest and obstacles and map them to an artificial ‘field map’, and genetic algorithm can be employed such that the herd could be regarded as consisting of a set of artificial creatures that evolve to adapt to a previously unknown environment. The development of this exploration method is still underway and theoretical testing is being carried out.
As can be seen here, there are a respectable number of hardware and software schemes that are available or are currently undergoing research and development. I believe someone should try putting all the bits and pieces together and start testing a fully functional planetary exploration system.
 Sub-surface Explorer Robot with