stations, and the inherent stability of these regions, although beneficial in terms of station-keeping, also attracts dust and asteroids, which could pose a risk. Despite that concern, the STEREO probes passed through the L4 and L5 regions without damage in late 2009. Recent work by the University of Strathclyde's Advanced Space Concepts Laboratory, in collaboration with the European Space Agency, has suggested an alternative relay architecture based on highly non-Keplerian orbits. These are a special kind of orbit produced when continuous low-thrust propulsion, such as that produced from an ion engine or solar sail, modifies the natural trajectory of a spacecraft. Such an orbit would enable continuous communications during solar conjunction by allowing a relay spacecraft to "hover" above Mars, out of the orbital plane of the two planets. Such a relay avoids the problems of satellites stationed at either L4 or L5 by being significantly closer to the surface of Mars while still maintaining continuous communication between the two planets. Robotic precursors The path to a human colony could be prepared by robotic systems such as the Mars Exploration Rovers Spirit, Opportunity, Curiosity and Perseverance. These systems could help locate resources, such as ground water or ice, that would help a colony grow and thrive. The lifetimes of these systems would be years and even decades, and as recent developments in commercial spaceflight have shown, it may be that these systems will involve private as well as government ownership. These robotic systems also have a reduced cost compared with early crewed operations, and have less political risk. Wired systems might lay the groundwork for early crewed landings and bases, by producing various consumables including fuel, oxidizers, water, and construction materials. Establishing power, communications, shelter, heating, and manufacturing basics can begin with robotic systems, if only as a prelude to crewed operations. Mars Surveyor 2001 Lander MIP (Mars ISPP Precursor) was to demonstrate manufacture of oxygen from the atmosphere of Mars, and test solar cell technologies and methods of mitigating the effect of Martian dust on the power systems. Before any people are transported to Mars on the notional 2020s Mars transportation infrastructure envisioned by SpaceX, a number of robotic cargo missions would be undertaken first in order to transport the requisite equipment, habitats and supplies. Equipment that would be necessary would include "machines to produce fertilizer, methane and oxygen from Mars' atmospheric nitrogen and carbon dioxide and the planet's