[GeoffP]

Great analysis Blake. I agree with the scenario you describe and your bleak outlook on the difficulties we will have with turning. Your arguement also suggests that skid-steering would be even more futile(?). at least articulated steering gets the thrust vectors in the right direction. simple traction control such as just limiting the accel and decel of the motors may be helpful in a straight or in the middle of a turn. if we try to stay just under the static friction force then the bot may sporadically "grab" and respond better to our drive commands. i forsee a lot of jacknife steering though with 5 other bots and 120 balls on the floor.