[MrForbes]

The first thing that came to mind was that the coefficients of static and dynamic friction for rubber tires on pavement seem to be more different than they are for the robot wheels on regolith. That means we don't have as much to gain as car designers do. I'm not rtying to dissuade anyone from working on this, though.

Also with a typical skid steer 4 wheel drive, the front and rear wheels on each side will be slipping the same amount in the driving direction, because they are turning at the same speed, and they are on the same surface, and the stay the same distance apart. So, there seems to be no need to worry about sensing the speed of each wheel, only the speed of each set of commonly driven wheels. This concept is used in older automotive ABS also, note you'll find only one speed sensor on the rear axle of 80s pickup trucks with primitive ABS.