I've been trying ovr the years to find ways of getting robots to do some of my work for me in the yard. The one I've got posted here - inside and out - I'd love to tweak it to start sampling soil for me throughout my planters, as well as around my lawn.
Revelation from the pavement trial - although shaky on the pavement here, these wheels were brand new. A little pavement time is actually really good for breaking in wheels - they execute 90 degree turns really smoothly now.
I'm thinking though I need tank tread to negotiate dirt, mulch, and grass, as is obvious in the last one posted here.