[Dick Linn]

I see tank treads as having two advantages. One is in the real world where you have heavy vehicles on very soft and irregular ground. They do help reduce the ground pressure, as is beneficial for tanks and agricultural tractors. The other is in climbing over irregularly shaped objects, as there is a piece of tread that can catch whatever traction surface is available and not leave you "high-centered". The downside comes on a somewhat regular and relatively high traction playing surface where you have to contend with turning and keeping the tread on.

My personal experience only extends to 4 wheel drive using fairly large, pneumatic tires (Skyway). Those things had more than enough traction to make turning difficult, despite a very short wheelbase. In one regional competition shoving match, we and the opponent both flipped over backward as a result of a standoff pushing match. Neither robot moved more than a couple of inches one way or the other.

In terms of "best doing treads", what are peoples opinions on the number of drive and bogey wheels, and methods of tensioning?