[asid61]

This is the coolest swerve drive (or drive, really) I have ever seen!
As far as this versus a shifting swerve goes, an IVT only gets a maximum torque equal to the maximum torque at the lowest gear ratio, so lowering the speed does not increase your torque unless the motors are drawing more current (not sure on that last part). I really want to see efficiency/ acceleration specs on this beast.
You also won't be able to do turn + drive maneuvers without scrubbing, it looks like, but you hardly need those anyway.