[Otaku]

What you could do is use optical encoders with optical encoder wheels on two kinds of wheels -- driven and not -- then take the data from both and make a table that you can use to program the TCS with. Drive the robot on a surface as close to regolith that you can.

Or, you could program it so each wheel has an optical encoder, each side independent, but tell the code that when the non-driven right-side wheel's speed value and the driven right-side wheel's speed value don't match, to slow down the motor until they do and keep it there, in the traction zone.

this assumes, of course, the use of extra optical encoders on non-drive wheels, which would require a drive system with possibly extraneous wheels. But if the bot's 2wd with four wheels, it'd work.