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