For additional information about the semi-autonomous rover investigation, see the following:

• Ravine, M. A., J. F. Bell III, M. C. Malin, and D. P. Miller, "Semi-autonomous rover operations: A Mars Technology Program demonstration," Lunar and Planetary Science XXXVI, Extended Abstract No. 1592, Lunar and Planetary Institute, Houston, Texas, 2005. -- PDF, courtesy LPI
  
  
• Miller, D. P., T. Hunt, M. Roman, S. Swindell, L. Tan, and A. Winterholler, "Experiments with a long-range planetary rover," PDF available from University of Oklahoma SR2 Rover web site.
  
  
• Miller, D. P., T. S. Hunt, and M. J. Roman, "Experiments and analysis of the role of solar power in limiting Mars rover range," PDF available from University of Oklahoma SR1 Rover web site.