The cause of her death has not been determined and her case has generated ongoing controversy.
Richardson disappeared after she was released from custody at the Lost Hills Sheriff's Station in the middle of the night without her phone or her purse.
She had been arrested for not paying a restaurant bill in Malibu, and was reportedly acting erratically.
Her body was found in Malibu Canyon more than 10 months later.
Latice Sutton, Mitrice's mother, had an independent analysis performed. She said there are still many unanswered questions.
"Someone's going to have to listen to the evidence that existed when my daughter's remains were found," said Sutton. "That was not analyzed. And the condition of my daughter's body, and the types of analyzing and testing that could have been done was not done.
"I will call the coroner's office right now and get their commitment to exhume Mitrice's body, and we'll send everything at the same time. That was more than what I expected to come out of the meeting, and I am so appreciative of that," said Sutton.
"My understanding is there was a letter that was received by the bureau very recently requesting some technical assistance, and we will review that letter and determine what, if any, technical assistance may be appropriate under the circumstances," said FBI Director Robert Mueller Wednesday.
During a meeting last week, Baca agreed to get the FBI involved in the case.
Latice Sutton had hoped to get clothing found by Mitrice's remains examined by federal authorities. Sheriff Baca took it a step further.
"When all the testing that could be done has been done, then I can move forward from that point," said Sutton.