We used these
97447A317 from McMaster-Carr. 2 on each end & 1 additional in two places about 60 degrees apart. The rivets were placed in valleys and the tread pulled tight around the wheels. You have to watch not to drill into the screw holes that hold the wheels together. We have not had issues with the tread coming off.
I used to glue tires on my bicycle. Major PIA. I am not sure what if anything this has to do with robots.