Future crewed missions to the Moon and Mars will rely on robotic ecosystems that complement crews in scientific, logistical, and operational tasks. Unlike architectures centered on a single vehicle, current planetary exploration scenarios consider multiple distributed agents that collaborate in environmental monitoring, reconnaissance, cargo transport, remote manipulation, and decision support, reducing the human workload and increasing operational safety. Analog habitats allow these architectures to be studied at low cost, but incorporating new agents often faces problems of interoperability, scalability, and continuous control modifications, which limit experimental flexibility. This work presents an adaptable robotic infrastructure to simulate distributed operations in the HAdEES-C analog station, conceived under principles of modularity, scalability, and functional decoupling. The system integrates layers of data acquisition, communications, monitoring, and control, facilitating interaction among mobile platforms, distributed sensors, manipulation systems, and human operators, without requiring substantial modifications when new agents are added. The architecture was validated by integrating four agents from the HAdEES-C robotics program: (1) a modular environmental monitoring platform (temperature, humidity, pressure, air quality, luminosity), scalable to swarm-type configurations; (2) a teleoperated platform for cargo transport and instrument evaluation; (3) a higher computational capacity platform with advanced localization and sensing for indoor and outdoor environments; and (4) a five-degree-of-freedom manipulator with embedded vision and AI. Together, they allowed different levels of autonomy, supervision, teleoperation, and distributed operation to be evaluated, demonstrating the potential of these architectures for simulated planetary exploration.