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In all the years that i've been on my team I can count 3 times that a derailler idea has been brought up. Each time there were two reasons that we didn't do it. First was basically what Mike said. But I think someone on our team said that they came up with an idea to keep this from happening (I have no idea what that was though). Second is that the sprockets have to be relatively similar in size in order for it to shift. If the difference is too great the chain will get caught a lot, especially when downshifting. I've even heard that they have to be so similar that it's not even worth the effort. You could make several speeds like on a bike, but its probably not worth the number of servos/solenoids/cylinders/etc....
Just some food for thought/
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