In this thesis thanks to the collaboration with the students team D.I.A.N.A of Politecnic of Turin, that design and build rover aimed to support possible martian colonists, it is underlined all of the previous design problems in a real project work. The aim of this thesis work is to improve the driveability of the rover by the user and to increase its dependability in a possible mission critical scenarios. For what concern the drivability a mobility controller is developed. Thanks to this controller, the driver control the rover as if it is on its Center of Mass. In order to increase the dependability of the rover a Failure Mode and Effect Analysis (FMEA) is applied on the rover design.