"A new report chartered by NASA provides input to important areas of robotic mission requirements development and explores the science benefits and potential knowledge gain from the agency's Asteroid Redirect Mission (ARM). NASA will visit an asteroid boulder during the Proving Ground phase of its journey to Mars in cislunar space the volume of space around the moon featuring multiple stable staging orbits for future deep space missions."
Report: "A precursor to the ARRM target body in order to scout for boulders and provide surface and boulder physical characteristics would effectively increase the characterization phase duration and should be investigated further. This precursor could be a dedicated mission or be co-manifested with the ARV, arriving at the target earlier. Additional benefits would be gained if the precursor had some means of interacting with the surface to provide geotechnical data."