The indoor robot was a synchrodrive base containing a computer and outfitted with twelve sonar sensors. It was placed in an office setting and was to navigate from the office it was in to an office about 30 meters away. The only instructions is received were the location of the door of the office it was in, the approximate location of three wals, and the fact that the target office was the second door on the left on the third wall. The robot encountered several unexpected obstacles on its travels. Only 50% of experimental runs successfully completed. The other half of the runs were due to cognizant failures for which there was no contingency procedure. The addition of this knowledge would certainly increse the success rate.
The outdoor robot was the JPL Mars rover testbed. This robot sensed using stereo vision cameras. The robot was given three goals, A, B, and C, the first of which was unattainable. No advance knowledge of the environment was given. The robot's plan was to visit B, then A, then C. It completed B, but on its way to A, it found it to be blocked, so it reformulated its plan and continued on to C. The robots speed was about two meters per minute. The path length was about 40 meters.
Go to a discussion of this capability for multiple architectures.