Ground cover plants for dogs

Hi, After many years I finally have a question that can’t be solved by lurking.

I’m in the process of designing a suburban food forest for a friend with rescue dogs of varied temperaments, including the try-everything-at-least-once variety.

This means the comfrey and lupine I had as mulch/ground cover under the fruit trees/hazelnuts/currants (which will be the dogs’ playground) won’t work.

Does anyone have suggestions for dog friendly accumulators, preferably ones that will stand up to a moderate amount of bulldozing?

Plants like Marigolds (Tagetes spp.), Lavender (Lavandula spp.), and Curry Plant (Helichrysum italicum) might not get dug up by the dogs due to the smell of the plants.

Rosemary will grow into a nice shrub and also has a smell though it might not repel the dogs. Our cat seems to like to hide in our rosemary.

I am not sure what plants can take being bulldozed except one that will come back from the roots.  Maybe mint or honeysuckle.

Yes, I thought that too, thus the lupines and comfrey in my original design, but I didn’t know they were poisonous to dogs (anyone know about this - is it a quantity thing where a nibble is fine? Or will a nibble send them to the vet? I know there’s an enormous amount of worry warring around pets and gardens…). At risk of it taking over the whole garden, mint might not be bad, but it’s not an accumulator, is it?

I’m not sure that lavender or rosemary will work well under the trees, though they’re both included out the front in the sunny, dry verge.

These dynamic accumulators are safe for dogs.
Dandelion
Daikon radish
Mulberry
Marigold
Oats
Chickweed
Mint

Red clover:  is toxic, but they need to eat a good amount, and they say it's so bitter dogs won't normally do more than try it, then leave it alone.

Ground cover, not dynamic accumulators.
Creeping tyme is a great ground cover and not toxic to dogs, but I had some in a pot the other day, and my dogs were very attracted to it. Stole the pot, and took off with it.  I also had creeping mint. They wouldn't get near it. The plants were side by side. The mint was still in the place I put it.  Creeping rosemary would probably work.

As far as what can withstand the punishment dogs will do, will depend on the dogs. I would probably fence around the plants for a while to let them become established.  

We ended up with 3 rescue German shepherd mix pups a little over a year ago. Between removing a huge oleander, drought, and digging dogs we have ended up with a desert. We have been using the things I made for my chickens coop to grow clover and grass.  It's working.  It's not a lovely lawn, but slowly we are getting ground cover.

Good luck