[JesseK]

Perhaps my idea of crab drive is a bit skewed, but with Crab drive and 4 traction wheels touching the ground, couldn't you program it to be semi-holonomic, like Team 118?

My prelim. parts list make the cost & weight pretty high compared to others (~$2k including motors, chassis $@#$@#$@#'y, and the # of victors you'll need for its control). The weight is around 50lbs depending on your machining skills (crab modules are tough to do accurately w/o machining).

For comparison, 6-wheel tank drive with 2 AM super shifters is roughly the same cost (victors included) but ~8lbs less.