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What's the best design for a flying Mars robot?

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Building a flying vehicle for Mars would have significant advantages for exploration of the surface. However, to date, all of our surface exploring vehicles and robotic units on Mars have been terrestrial rovers. The problem with flying on Mars is that the Red Planet doesn't have much atmosphere to speak of. It is only 1.6% of Earth air density at sea level, give or take. This means conventional aircraft would have to fly very quickly on Mars to stay aloft. Your average Cessna would be in trouble.

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