Tangles, tree-decompositions and grids in matroids

A tangle in a matroid is an obstruction to small branch-width. In particular, the maximum order of a tangle is equal to the branch-width. We prove that: (i) there is a tree decomposition of a matroid that "displays" all of the maximal tangles, and (ii) when M is representable over a finite field, each tangle of sufficiently large order "dominates" a large grid-minor. This extends results of Robertson and Seymour concerning Graph Minors.