We recently finished this demonstration robot before IRI. It features four Revolution swerve modules and a custom controller that uses arduino boards and wifi.
The unit is powered by two 3" CIM motors and steered via two AM Equipment power window motors.
The drive and steering setup allows the bot to switch drive configurations on-the-fly…the standard mode is coordinated/crab steering. You can also access a four wheel/monster truck style and a basic tank/skid steer setup.