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An eventual return to colonize the Moon or the launch of a human exploration mission to Mars will drive the need for developing novel surface Extravehicular Activity (EVA) technologies as well as require new operational and planning techniques. These advances are necessary to enable safe EVA access to the planetary surface locales that are most likely to yield exciting scientific knowledge, such as in the sedimentary deposit regions recently found on Mars or within and around large craters formed from asteroid collisions; as these represent the areas thought most likely to contain fossilized evidence of life or geological information pertaining to the origins and age of the planets. These sites, while rich in potential for scientific discovery, also introduce challenging terrain for exploration by surface EVA teams.