Design, Testing, and Evolution of Mars Rover Testbeds: European Space Agency Planetary Exploration. - Martin Azkarate; Levin Gerdes; Tim Wiese; Martin Zwick; Marco Pagnamenta; Javier Hidalgo-Carrió; Pantelis Poulakis; Carlos Jesús Pérez-del-Pulgar (IEEE Robotics Autom. Mag., 2022)