While the Bulldozer configuration (using those 2 large sets of sprockets does use less track per side - as seen on that FTC bot pictured and videoed), I personally believe a regular tank tread configuration, while using more track length & equaling more final weight on the robot equaling a lower CG also (four sets of much smaller sprockets, 2 high & long, 2 low and short and a center low drop idler wheel set in the middle of the lower run of tread, to make turning on the carpet - mounted both inner & outer but inside the chain contacting the inner rubber portion of the tread,), would make a much better use of track footprint and give you the WC Drivetrain feel of driving it much faster and over anything you wish to drive over.
It would also spread out that weight end to end on the bot, and be much less apt to flip over easily even on steeper climbs like a real tank. It would raise the tread height on both front and rear of the bot making getting over obstacles easier driving the bot in either direction making turning around unnecessary to cross the Defenses in Stronghold.
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{}Drop center Idler wheel, 2 speed shifter, 2 or 3 CIM'S per side, 8 sprockets & 2 lower drop center idler wheels per tread side. You can mount gearboxes & drive center / center, or on each opposing end to even the weight out so no end is heavier than the other and spread that LOW CG out over the entire kitbot frame.
Positioning the tread runs under a long/narrow kitbot frame wouldn’t be that difficult concerning the additional fabrication necessary to support / drive the chain treads (if you just adjust the inner rails), and still allow easy bumper addition to the outside of the frame perimeter as opposed to adding bumpers to that belt driven tread addition avail. on AndyMark. Just a personal opinion there as that other one seems to be a nightmare to add legal bumpers to that don’t also defeat the treads that only rise on one end.