• Lighter → no power transmission system needed
• More compact, allows for a larger chassis
• More reliable → if one motor fails, only that wheel is compromised rather than a whole left/right side of the drivetrain

• More points of failure by controlling each wheel independently
• Longer wires, require protection

• • Motors are protected from damage while traversing obstacles

• • Requires custom hubs to mount the motors to
    • Either have to tear apart COTS wheels or design completely custom wheels
      • Probably easier to design custom wheels 

• Not constraining the wheel width to be wide enough to fit the motor and gearbox
• Easy to implement on COTS wheels → no requirement for custom wheels or hubs, maybe a custom interface plate

• Less compact design

• Easy to install/remove and repair
• Sprockets come in small diameters
• Reliable, does not slip

• High maintenance → requires tensioning, cleaning, and lubrication
• Heavy

• Low maintenance → once installed, shouldn't need tensioning, no lubrication required
• Light

• Precise machining required to position the belts properly so that they don't loosen over time
• Harder to install and uninstall → require accessible openings that's the entire length of the belt
• Typically rely on pulleys that are larger in diameter to sprockets
• Fixed lengths of belt
• More likely to slip when carrying heavy loads and due to vibration, thus reducing its efficiency

PROS

• • Can use as many/as few motors as desired
  • Motors and gearing all contained in one area that can be located away from potential harm

• • Not useable for all drivetrain styles
  • Bulky
  • If one motor fails, compromises the performance of all wheels connected to that gearbox

PROS

• Can position the actuators away from potential harm
• Easy to mount the actuators

• Long wiring + power transmission required = many points of failure
  • To protect would require additional casing/structures, which is more weight