I'm a derp and can't find the edit button, but we just had a PDR and we decided to go with the
am-3322 tread module. We'll test it out on a simple bot base, and if it doesn't go well, we're going to replace the tread rollers with 8" or 10" wheels and use the same frame. The real wheel v. tread debate was manueverability vs clearance, and we chose clearance.
EDIT: just found the edit button, but it's not appearing on my original comment. Not as stupid as I thought.