[Chris Fultz]

The reference mainly applies to mecanum wheels. for these wheels to work and allow the robot to slide side to side, the small rollers must be low traction.

Same with an Omni wheel - they are made to slide side to side, so they have to be low traction.

With a swerve drive, since the whole wheel set rotates to change direction, a higher traction wheel material can be used. In these systems, the wheel does not slide across the floor.

For how did we learn this, it was just through analysis of the different systems and an understanding of how and why they work.