As a result thereof, the mutual interference of {HEAD ~ the active sensors} can be avoided, and {TAIL ~ the robot} can be prevented from causing trouble to the task 
As a result thereof , the mutual interference of { HEAD ~ the active sensors } can be avoided , and { TAIL ~ the robot } can be prevented from causing trouble to the task
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH