Cal,
I am excited to hear the team is interested in taking on a challenge like this.
Knowing the resources that 2410 has and an idea of the teams other
constraints like, money, time and talent. I would say look closely at how 973 does their swerve. What I think is really nice is that each swerve section is it's own module that is then bolted to the frame. I believe this method is something that is easily visualized, delegated and tweaked. Build 4 identical modules and a box frame with a plywood electronics board. Very solid testing module.
If you need any help, you know how to find me. Good luck!
-Jeff
P.S. send me CAD
Edit to add:
Cimple gears paired with 4 inch wheels seem to make a really nice combo.