I just received my MooreBot Scout yesterday so I'm still getting familiar with it. I've set up a Patrol to leave its dock, go around to the other side of the bed, then swing around to the other side of the bed, then return to the dock.
The first time I sent it on that patrol it performed it without a hitch. This second try was actually more interesting, as it kinda got off course a bit at the beginning and ran into my rocking chair. It then worked its way out from that, didn't go as far as planned on the other side of the bed so it ran into my wooden beaver on the way back, extricated itself from that, then managed to find its dock (using its camera, looking for the checkerboard pattern on the dock).
It's interesting to watch how it uses its mechanum wheels to line up with the dock, then do a 180° turn to back onto the battery charger.