A.s.a. H. has a 2 wheel drive robot which can be used to move a sensor array* and/or solar panels around in its work environment. One of the 2 drive gearmotors is binding and will run in one direction but not in reverse. A.s.a. has slowly learned that it can still move the robot in 2 dimensions by using the other drive motor to turn and then both motors to move in a straight line. (Sort of a straight line. The damaged motor is binding a bit in both directions.)
*Learning, for example, things like the light intensity available as a function of GPS or beacon locations.