I helped with a pneumatic wheel swerve in college. We had a much higher weight limit and greater freedom in the choice of parts which helped a ton. Definitely possible, in general. However, the whole mechanism was still somewhat fragile - I'd be super worried this year about a module getting wedged in one of the defenses and burning out a motor. I wouldn't do it, but that's just me.
Edit: Here's some pictures of what we did:
http://imgur.com/a/JkeBG