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Re: 5" wheels
If you do opt to go with Banebots wheels for the drive, I'd suggest going with one set of 3.875" wheels to be used on one end rather than a 4.875" to be used as the center wheel. You'll still end up with only four wheels in full contact with the carpet under normal conditions (a "pivot" as you called it), thus achieving the shortened wheelbase and improved turning. However, you'll have a much less significant difference in surface speed of the wheels (a larger diameter wheel spinning at the same rate as a smaller diameter wheel will have a faster linear velocity at the edge of the wheel). Especially if you mount the banebots wheels on the lighter end of the robot, so under nominal conditions they won't be contacting the floor (thus your four wheels with identical diamters will be in contact). You want to avoid differening surface speeds when possible, so you can harness the static friction of your treads rather than the lower dynamic friction.
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