I think the original plan was to land another rover, which would drive to each sample. I hope future plans weight the use of helicopters for retrieval after Ingenuity's success. It looks like the sample capsules weigh less than 3oz.
Using helicopters was in the plan already, e.g. <a href="https://en.wikipedia.org/wiki/Mars_Sample_Recovery_Helicopter" rel="nofollow">https://en.wikipedia.org/wiki/Mars_Sample_Recovery_Helicopte...
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