Armitage
Armitage is an officer in the Mars police department. She is a very good cop, smart, a good detective, but is often very emotional. Even though most of the people that live on Mars do not like robots, Armitage has a lot of sympathy for them. She also likes to eat ice cream.
Ross
Ross came to Mars to get away from Earth. His former partner was killed by a robot, and disliked robots ever since. Ross is a good cop, but he needs to adjust to way things are on Mars. He drives his own car, (most of them are automated) and has an artificial leg.
Kelly McCannon
Kelly was a famous country singer. While on her flight to Mars, she was killed by D'ancaude. Kelly was a robot, but not just any robot, she was a third (a lot more advanced then the second robot series). Her death was investigated along with other killings done by D'ancaude.
Asakura
Asakura is the scientist who developed the thirds. He is also (kind of) Armitage's father. Asakura's memory of Armitage was forgotten.
Julian
Julian is also a third, but unlike the other thirds, he is a boy. He gave Armitage the list of the other thirds, and knows what is happening to the other thirds. He stores his memory in a computer for backup if something happens to him.
D'ancaude
Rene D'ancaude started a killing spree that began with Kelly McCannon. He plans to kill all the thirds, and feels that he needs to get rid of all of the thirds that are hiding in society.