Asymmetric wheel for mobile cleaning robot

A drive wheel for a mobile cleaning robot, the drive wheel extending circumferentially around a central axis, the drive wheel comprising:

• a first wall laterally spaced from a second wall;
• a tread base extending between the first wall and the second wall;
• a first tread section adjacent to the first wall, the first tread section comprising:
• climbing treads extending laterally from the first wall towards the second wall and extending radially from the tread base, each climbing tread of the climbing treads including a circumferential length, each climbing tread of the climbing treads circumferentially spaced from each adjacent climbing tread by a distance substantially equal to the circumferential length;
• a second tread section extending from the first tread section toward the second wall, the second tread section comprising:
• continuous treads extending circumferentially continuously around the drive wheel and extending radially from the tread base, each continuous tread of the continuous treads laterally spaced from each adjacent continuous tread;
• and
• a third tread section extending between the second tread section and the second wall, the third tread section comprising:
• curved treads extending laterally and arcuately from a first edge adjacent to the second tread section to a second edge adjacent to the second wall, the curved treads extending radially from the tread base.