It's not nearly as cool as a swerve, but we did not use pneumatic wheels, nor treads. We beefed up the usual 6WD to a 10WD, featuring three different wheels (2 2015 KoP wheels, 4 2010 KoP wheels, and 4 8" plaction wheels with pebbletop tread). They were staggered into four lines because they were too big to put ahead of each other.
Here's a pic of the drive train before we installed any manipulators. The pebbletop does most of the work on the carpet and the slicks do a fair share of the work getting over the defenses.