Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program are to establish surface infrastructure and an permanent human outpost. Achieving these objectives will enable long-duration stays and comprehensive, long-distance exploration of the Moon. To do this, robotic systems will be needed to perform a wide range of tasks which cannot, or should not, be performed by crew alone. Some of these tasks will be performed in parallel with crew activity, but many will be done before and after humans are on the Moon. In this talk, I will summarize our work to develop "utility robots" for lunar surface operations, present results and lessons learned from field testing, and discuss directions for future research.