Is (or was) there life beyond Earth? The answer to this question leads underground on planetary bodies in our solar system. Planetary subsurface voids are one of the most likely places to find signs of life (both extinct and extant). Subsurface voids are also one of the main candidates for future human habitat for colonization beyond Earth. To this end, TEAM CoSTAR is participating in the DARPA Subterranean Challenge to develop fully autonomous systems to explore subsurface voids with a dual focus on planetary exploration and terrestrial applications in search and rescue, mining industry, and AI/Autonomy in extreme environments.