Disadvantages of swerve/crab

[Jared Russell]

* Often less intuitive to drive than skid steer robots
* There is latency to all changes of direction because module steering is never instantaneous
* Geometry of swerve (assuming normal bumper zone rules) means that wheels cannot be put as far out to the edges of the chassis as in a skid steer case (may make being tipped easier)
* On uneven terrain, one or more motors may be unable to deliver power to the ground
* Unless you build an all-wheels-driven-and-steered-independently ("unicorn") swerve, there will always be certain combinations of manuevers that you cannot make.