[MrForbes]

I agree, it depends on all the details the situation. If you are still planning your robot, it might be wise to make it so that it can support two other robots with their bumpers on (so you don't have to take your own off unless your own ramp system fails), and also to design your frame to take a beating without your bumpers installed, and your drivetrain to give maximum pushing power without the added benefit of bumper weight.