NASA's rationale for sending humans to Mars.
"3.1.1 Taking advantage of the unique attributes of humans in scientific exploration
It is important to consider the unique capabilities that humans bring to the process of exploring Mars. As a result, a common set of human traits emerged that apply to exploration relating to the MEPAG science disciplines, which include geology, geophysics, life, and climate. These characteristics include: speed and efficiency to optimize field work; agility and dexterity to go places that are difficult for robotic access and to exceed currently limited degrees of-freedom robotic manipulation capabilities; and, most importantly, the innate intelligence, ingenuity, and adaptability to evaluate in real time and improvise to overcome surprises while ensuring that the correct sampling strategy is in place to acquire the appropriate sample set. Real-time evaluation and adaptability especially would be a significant new tool that humans on Mars would bring to surface exploration. There are limitations to the autonomous operations that are possible with current robotic systems, with fundamental limitations to direct commanding from Earth being the time difference imposed by the 6- to 20-minute communications transit time and
the small number of daily uplink and downlink communications passes."
Boiling it down:
1) Humans excel at speed and efficiency in field work
2) Humans have the ability to go places robots can't
3) Humans are more dexterous than robots
4) Catch errors in real time
5) The 20 minute time delay
My belief is all of these problems will go away very soon with advances in robotics and AI. Adding humans increases cost a hundred fold. The justification is simply not there. Send in the machines until they can't tell us any more.