According to Glen Cushing, a scientist at the USGS, one area of Mars likely
to have some long large lava tube caves is on the slopes of the volcano
below:

     http://www.solarviews.com/raw/mars/arsia.gif

You can zoom in once by clicking on the photo.

Note numerous large holes which in some cases are nearly a kilometer apart.

This is the same area that was discussed on CaveTex in 2007 when photos of
large pits
were first released.

Ref:

http://www.usgs.gov/newsroom/article.asp?ID=2330

Note he thinks that robots will someday do our caving for us.

There is a problem with that theory.    The current robots require an
operator using radio remote control to tell the robot which moves to make.
 Any speleo-robot would have to have the capability to make caving decision
on his own.     Such as, "should I use a figure 8 knot here, or a bowline ?"
    I don't think any of us will live long enough to see a robot make those
kind of decisions.

So the next choice would be some kind of tethered speleo-robot.    But once
the cave reaches a kilometer long, that would not be practical.

The best bet would be to develop some kind of specialized ridge-walker with
GPS, video, and
sensors, that would have the capability to fire some kind of probe into a
pit or cave entrance.

David Locklear

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