I'm not sure how much extra this would involve, but here are some ideas on what to do about stuck rover wheels:
- model different styles of breakdown:
- electrical (wiring or motor malfunction)
- FOD (gravel or sand buildup in gearing/motor)
- Trip hazards (frozen/jammed en route in space or under re entry stresses)
- enable ways to clear/mitigate damage
- Electrical problems- option to "freewheel" that particular wheel (would impact climbing ability, but not straight line travel/turning)
- FOD may be cleared by working motor back and forth, on clear rock surface
- Frozen drives may be eventually warmed up/cleared after continual useage
- jammed gears may be cleared by impact on rocky surface
Some failures are unrepairable, of course