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Collision-tolerant trajectory planning is the consideration that collisions,if they are planned appropriately, enable more effective path planning forrobots capable of handling them. A mixed integer programming (MIP) optimizationformulation demonstrates the computational practicality of optimizingtrajectories that comprise planned collisions. A damage quantification functionis proposed, and the influence of damage functions constraints on thetrajectory are studied in simulation. Using a simple example, an increase inperformance is achieved under this schema as compared to collision-free optimaltrajectories.

A Framework for Collision-Tolerant Optimal Trajectory Planning of Autonomous Vehicles