Middle School and High School students involved in FIRST Robotic have been doing this and have posted examples
Middle School Lego League Robotic
https://www.google.com/webhp?sourceid=chrome-instant&ion=1&espv=2&ie=UTF-8#q=lego%20line%20follower
High School FRIST Robotic
https://decibel.ni.com/content/docs/DOC-14730
http://www.chiefdelphi.com/forums/showthread.php?t=93826&highlight=Line+follow
http://www.chiefdelphi.com/forums/showthread.php?t=91391&highlight=Line+follow
http://www.chiefdelphi.com/forums/showthread.php?t=90386&highlight=Line+follow
