Further, it is possible to determine the presence of a potential violation of a right of way at the intersection and when a violation of the right of way is determined, undertake {HEAD ~ action} to prevent {TAIL ~ a collision} in light of the violation 
to prevent
Further , it is possible to determine the presence of a potential violation of a right of way at the intersection and when a violation of the right of way is determined , undertake { HEAD ~ action } to prevent { TAIL ~ a collision } in light of the violation
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