1. A system comprising: a display configured to display a user interface; and a data processing device in communication with the display and a remote vehicle, the data processing device capable of: navigating the remote vehicle using inputs from the user interface; receiving global positioning system information of the remote vehicle for navigation in an outdoor environment; receiving laser range finder information and simultaneous localization and mapping information of the remote vehicle for navigation and mapping in the indoor environment; mapping an environment about the remote vehicle; creating a first navigation portal on one or more maps when the remote vehicle switches from the indoor environment to the outdoor environment, the first navigation portal including information regarding the environment switch from the indoor environment to the outdoor environment; creating a second navigation portal on one or more maps when the remote vehicle switches from the outdoor environment to the indoor environment, the second navigation portal including information regarding the environment switch from the outdoor environment to the indoor environment; using a door opening behavior when a door is encountered during navigation or mapping; creating a third navigation portal on one or more maps when the door is encountered during navigation or mapping, the third navigation portal including instructions to implement the door opening behavior; using a stair climbing behavior or a stair descending behavior when a stairway is encountered during navigation or mapping; and creating a fourth navigation portal on one or more maps when the stairway is encountered during navigation or mapping, the fourth navigation portal including instructions to implement the stair climbing behavior or the stair descending behavior; wherein each navigation portal identifies a transition between two environments, each environment having an associated map.