Abstract-- This document compiles results obtained from the test campaign of the European Moon Rover System (EMRS) project. The test campaign, conducted at the Planetary Exploration Lab of DLR in Wessling, aimed to understand the scope of the EMRS breadboard design, its strengths, and the benefits of the modular design. The discussion of test results is based on rover traversal analyses, robustness assessments, wheel deflection analyses, and the overall transportation cost of the rover. This not only enables the comparison of locomotion modes on lunar regolith but also facilitates critical decisionmaking in the design of future lunar missions. I. INTRODUCTION Humanity has had its gaze set on the stars since an early age.

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.