Some food for thought: currently I'm working on a robot that could use collisions as one of its localisation inputs (think of a Roomba-like vehicle). I'm not at the stage of developing planners yet, but my intention was to implement a planner that plans for collision in some specific cases like walls or other static objects.

What's the idea regarding the collision avoidance requirement (i.e. what kind of restrictions on the design) and how would or relate with my idea?