The Mars Microrover Telecommunications Team focuses on the telecommunications aspects of the Sojourner rover from the Mars Pathfinder Mission. Their website details the wireless radio communications system used. The team also posted some pictures of rover concept vehicles.
The primary function of Sojourner was to demonstrate that small rovers can actually operate on Mars. It was humanities first attempt to operate a remote control vehicle on another planet.
Once it landed on July 4, 1997, Sojourner took measurements of elements found in the martian soil.
Here are some rover concept vehicles NASA designed and tested:
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