[GregW11]

Hm... what if you had a six-wheel design (skid steer, it won't work so well for arcade style) in which the front and back wheels had motors but the center wheels didn't, and there were sensors in all the wheels. The center wheels would be the actual rotation of the wheels while the front and back would be what the motors are doing, and the controller would adjust the output of these motors based on the actual wheel rotation versus what the motors are trying to do. (if that made any sense at all) I'll try to explain in a diagram below:

| | <motors on these wheels sensor compares rpm to center wheels

| | <no motors on these wheels, sensor gets rpm for actual speed

| | <motors on these wheels, sensor compares rpm to center wheels

Controller will adjust actual output of the motors. It's not fully autonomous, since you're still controlling which direction it is supposed to be going and the speed desired.

If anyone wants me to I'll try and do a sort of block-diagram showing a general flow of possible commands.