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