Our robot, Fred, was designed to be optimized for the task at hand: accurately navigating the Wumpus World. As such, Fred's drive train was designed to allow him to pivot on a dime by making use of two motors which can rotate in opposite directions and a ball roller on the back as a third contact point which can move in all directions. Fred also has two light sensors at the very front in order to detect the white lines in between squares. This allows Fred to "know" when he passes into another square, and it also allows him to straighten himself out if one sensor reaches the line before the other (which would mean he is at an angle to the line). 

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Fred's chassis were designed to balance simplicity with structural rigidity in order to prevent flexing and breaking. This was accomplished by giving each piece multiple contact points to other pieces. Additionally, the undercarriage was designed to allow easy access to Fred's battery, and his wires were routed through his frame in just such a way so that they would not interfere with his ability to drive.