[abeD]

Yea my team in 2003 had 2 steered casters in the front with a 4 wheel drive in the back, it worked pretty well but there were a couple of things i would have changed, and yes you could really fly while turning which was pretty cool.

I can also remember several teams that have employed some kind of steering, obviously all the crab drives, but 16 baxter bomb squad a couple years ago had a tricycle setup with all 3 wheels driven and 1 steered, worked very well from what I remember.