Snake robots are already used for inspection in hard to reach areas. In the future, they could be used on icy moons and other space environments for sample collection and scientific research. Take JPL’s Snake Robot EELS for instance: it can sense its environment, travel over challenging terrains, and collect data.
This robot has already been tested in sandy, snowy, and icy environments. It uses sensors on its head for mapping. The above video shows it in action.