ok, here's a few sketches if you care to take a look:
This is 8-wheel swerve drive, with modules that can be raised and lowered (you can ignore pretty much all of the math and notes on there, that was me doing figuring on amounts of material for the whole bot)
(I will hopefully have Sketchup models done soon)
http://s226.photobucket.com/albums/d...rent=001-3.jpg
This is a triangular(ish) robot, with a single swerve module in the middle, and basically a kiwi drive around it (three omni's, each powered by a FP/Window Motor). The only reason the omni's are powered is to keep the robot from spinning wildly when you try to rotate the swerve module.
http://s226.photobucket.com/albums/d...rent=002-1.jpg