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Multiple Near-Earth Asteroid Rendezvous and Sample Return Using First Generation Solar Sailcraft
(2005)
"To assess the habitability of the icy environments in the solar system, for example, on Mars, Europa, and Enceladus, the scientific analysis of material embedded in or underneath their ice layers is very important. We consider self-steering robotic ice melting probes to be the best method to cleanly access these environments, that is, in compliance with planetary protection standards. The required technologies are currently developed and tested."