[Gabriel]

We struggled with this problem as well.

At UTC zipties were allowed to be wrapped around the wheels, but if the robot stalls and the refs see damage to the carpet they will make you take off the zipties.

UTC Refs will also allow you to wrap tape around the wheels as a traction device but NOT as a fastener. This interpretation seems a little weird to me so I don't know if it will be allowed at every site.

Velcro is NOT allowed.

The best idea is vacuum cleaner hose, which I believe was called sump-pump hose earlier in the thread. Team 500 was generous enough to supply us with a lot of this stuff.

Remember, this will probably change your traction significantly so your driver will need a lot of practice to readjust and your autonomous mode will need to be recalibrated.