I believe an array of 5 sensors (probably not the normal optical ones, but "custom circuits") would make it very fast, if arrayed two on the outside, and three clustered together at the width of the tape between the other two. You can zip around and use the three for precise driving as much as possible, but if you lose the line at high speed, you've got the other set to follow the line more loosely. I haven't tested this yet, but I'm going to as soon as I get at last year's robot
