[Foster]

I think that a 360 degree with all four pivots turn independently moving swerve drive is best since that's what we are driving this year.

But I have to give very high marks to the omni/twitch hybrid I saw at Philadelphia. (Sorry I've spazzed on remembering your team number/name).

Each corner was a pair of Andy-Mark Omni's bolted together so that there was a continuous set of rollers around the circumference. They were set up in a standard 4 motor drive.

Two opposite corners were mounted on Delrin pivots. The wheels could be turned 90 degrees by two small pneumatics.

Best of both worlds: tank drive with good forward / backwards grip but a little slip to allow easy turning and the ability to flip into a omni-bot for strafing and translation movements.

A very clever solution to allow omni-bot flexibility with a low center of gravity and clearing the humps.