Short answer: No, BT can't run on Raspberry Pi without modifications.
Long answer: RaspberryPi has an ARM11 CPU
which means it has the ARMv6 architecture:
BT is compiled for Nvidia Tegra 2 which is ARMv7:
But, if you have the source code, theoretically you could compile it yourself for the ARMv6 ISA
You don't need RaspberryPi running BT for being useful in Penetration testing, you could install the needed tools in the distro that comes with RaspberryPi and use it that way, without senseless modifications.
What's great about RaspberryPi is the very low power consumption (~700mAh at 5V ~=3.5W) which can be used together with of the shelf 18650 LiIons and a voltage regulator.
Wifi dongle: US$7
The perfect backdoor/dropbox which runs at least 12h off the batteries.
18650 LiIons have 3000mAh -> 3Ax3.7V=11.1W X 4= 44.4W / 3.5W =12.6H