A cost effective approach for the deployment of manned habitats on planetary surfaces is the use of robotic precursor missions for such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. Limitations in the lifetime, dexterous manipulation capabilities, control system architectures, mobility, and the overall degree of autonomy of the current generation of planetary rovers such as Sojourner will have to be addressed before such a long term effort can be undertaken. Ongoing work in the Surface Systems Thrust Area under NASA’s Cross Enterprise Technology Development Program (CETDP) in the area of robotic outposts is enabling many of the technology developments necessary for such an ambitious undertaking. This effort includes a strong cross section of University and NASA Center partners. The program includes the development of control architectures, ISRU systems, and new mobility designs for a sustained long term presence on planetary surfaces. This paper reviews some recent results from the JPL tasks under the Program and provides a roadmap for integration into robotic precursor missions in the 2010-2015 timeframe. ©2001 American Institute of Physics.