[MrForbes]

I don't see any cases there that would not be handled by the static approach...the robot mass is pretty large compared to the inertia of the wheels, even in a situation where you get bumped by another robot, or drive on the carpet, or the load on the robot changes. In a pushing match you'll be accelerating much less than when you're out in the open.

(really, I'm not trying to dissuade you from making the accelerometer work, I just think that it's not necessary for TCS)