Tread structures, wave motion navigational controls, and ramp up recovery controls are provided to an autonomous floor cleaner to reduce wheel slippage. The floor cleaner delivers liquid to the floor as part of the cleaning process. Wheels on the device are provided with relatively deep peripheral grooves...http://www.google.com/patents/US7832048?utm_source=gb-gplus-sharePatent US7832048 - Methods to prevent wheel slip in an autonomous floor cleaner
