A six-wheeled rover, the size of a Mini Cooper and called Curiosity, has landed safely on Mars after entering the planet's atmosphere at 13,200mph.

The capsule containing the rover was slowed by friction and then a supersonic parachute. Curiosity was then lowered onto the Red Planet via three tethers from a crane which hovered over the surface.

It was one of the most daring and difficult interplanetary operations ever attempted.

A signal confirming the robot had landed was received on Earth at 6.31am UK time. When the "Touchdown confirmed" message came through, Nasa scientists erupted into jubilation.

Curiosity now starts a 98-week mission exploring the Martian crater for signs the planet may have supported life.