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The MAIN improvement (imho) came from having multiple current sources.
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Hear! Hear! This is the thing which drove us to multi-motors.
Another advantage (especially if you direct drive separate wheels with your multi-motors) is that you have additional failure modes. Even if you trip your breakers on one set of motors, you can still limp around. It takes a double failure on one side of your robot to put you out of commission.