Complex sentence: While one conventional application for robot to interact with the environment in real time is to track the trajectory, on the other hand, the local behaviour which including a real-time collision avoidance function increases the level of competence of a control system.
Split into simpler sentences: While one conventional application for robot to interact with the environment in real time is to track the trajectory. On the other hand, the local behaviour which including a real-time collision avoidance function increases the level of competence of a control system.