I tested Team Foundation Server 2010 a lot. Testing included creating project collections, adding solutions, removing everything, restoring from backup and doing this all over again.
Out of blue, I started getting "Failed To Create Mapping" error. Worst thing was that those messages referenced project collection that I already deleted.
I restored project from state before even adding it to source control and result was stubborn "Failed To Create Mapping".
However, there is solution. There is configuration file at
%LOCALAPPDATA%\Microsoft\Team Foundation\3.0\Cache\VersionControl.config
Every Team Foundation Server connection gets stored there. Once I deleted ServerInfo for non-existing connection, everything was good again.