Robotic vehicles and methods described herein relate to robot navigation, physical configuration, and obstacle avoidance. An example robotic vehicle includes a chassis and a sensor coupled to the chassis. Furthermore, the robotic vehicle includes a plurality of multi-wheels coupled to the chassis. As such, each multi-wheel is configured to rotate about a primary axis of rotation. Each multi-wheel includes a plurality of rotatable wheel elements and each rotatable wheel element is configured to rotate about a respective secondary axis of rotation. The robotic vehicle includes an actuator configured to extend or retract at least one rotatable wheel element such that a position of at least one rotatable wheel element is adjustable relative to the primary axis of rotation. Yet further, the robotic vehicle includes a motor configured to drive the rotatable wheel elements about their respective secondary axes of rotation and drive the respective multi-wheels about their primary axes.
