  Collision-tolerant trajectory planning is the consideration that collisions,
if they are planned appropriately, enable more effective path planning for
robots capable of handling them. A mixed integer programming (MIP) optimization
formulation demonstrates the computational practicality of optimizing
trajectories that comprise planned collisions. A damage quantification function
is proposed, and the influence of damage functions constraints on the
trajectory are studied in simulation. Using a simple example, an increase in
performance is achieved under this schema as compared to collision-free optimal
trajectories.
