Swerve vs. Butterfly Drivetrain

[Ginger Power]

What are the pros and cons for each drivetrain? What types of game fields are conducive for each?

For Swerve: what are the advantages to 4 wheel swerve vs. 3 wheel swerve?

For Butterfly: Also consider nonadrives and decadrives (a butterfly drivetrain with a strafe wheel or 2).

I'm trying to figure out what I should spend my time working on as I'm procrastinating on my schoolwork. I just keep going back and forth on which drivetrain offers the most benefit. For this comparison, ignore ease of design, and cost. Assume that the team looking to manufacture either of these drivetrains has access to a simple mill and lathe (no CNC).

In my mind, a decadrive and a swerve are comparable in weight, maneuverability, and cost. How about other factors like manufacturability, driver learning curve, and durability?

I'd also be interested to hear about what drivetrain would perform better in a game like Aerial Assist where there is a wide open field, assuming equal driver ability.