Let me start saying that Philo technical pages are awesome.
There you can find all the useful data for any Lego motor and friction coeficients for different wheels. Also that 4x5292 prolific Sariel did got me thinking about Lego and speed. And what it takes to go fast with Lego.
Now I barely remember my physics lessons, but I think that with Philo charts it could be somehow predicted maximun theorical speed for a model based on weight, motors, voltage, wheel diameter, gear ratio....
Even transmission friction could be factored in based on number of gears and axles to get a better aproximation. but that goes beyond my main goal.
Is this possible? Could anyone point me in the right direction for this or give a hint with some formulas?