Personally, I hate ABS. Having road raced for many years, there are times I may want to lock my tires. I can understand that most drivers probably need it, just don't like it myself.
racing is different. just like traction control... ever watch a NooB with a hellcat try to launch at the track and doesnt FULLY turn off the traction? funny to say the least..
retrofitting air brakes with ABS.. now lets talk dangerous.. if you could even actuate it then. youd run out of air real fast and then would have full rear wheel lock with no control..
hydraulic ABS is a pretty simplistic system.. 4 channel means when a wheel slows down below what any of the others do then it momentarily lowers pressure to that wheel.. the system assumes the driver is still rolling by monitoring how quickly a reduced pressure wheel resumes speed. (or multiple wheels).. detecting wheel lock is fairly easy to do by rate of decel.. and also figuring out that the vehicle has slowed below a set threshold when its allowed to lock the wheels..
im not sure what it takes to retro fit.. other than the proper encoders and speed sensors, computer for a vehicle your weight class and length and tire size... the program is specific... some of them pull in info from the ECM as to throttle, brake pedal input, driveline speed, engine RPM.
the newest automobile systems even read steering wheel and steering rack position.
some vehicles even immitate Limited slip differential by using the brakes.. if wheel spin is excessive on one wheel it will brake that wheel slightly to push a little more torque to the wheel on a less slick surface. I havent seen anything that elaborate on a bus.. but my Jeep wranglers had it. my new dodge pickup has a real locker so its not needed though the description in its computer shows how aggressively to activate the BLSD in the custom tunes.
ultimately in my case on the DEV bus it comes down to making sure all parts are working as they are supposed to .. and yes I do have control over when the rear wheels are locked, but my stopping distance is increased by having to lift off the brake pedal. I tend to drive my busses real conservatively anyway.. but as anyone who drives in cities know, other drivers dont give a crap.. if there is 6 inches to spare to slide in between you and the car in front of you they will do it.. and hit the brakes doing it..
-Christopher