[Taylor]

I would recommend that no matter what type of wheels you plan to use, to test them on carpet to see how they react. Two years ago we were using a 4-treaded-wheel design which worked fantastically on concrete, but when we placed the robot on carpet, it refused to turn. The floor certainly affects the robot's handling.
That being said, omniwheels can be rather effective on carpet, depending on how you would like them to behave.