A method, optionally a computer-implemented method, of detecting conflict along a route for a robot to travel, the method comprising: receiving first data that indicate a first position and a first velocity of one or more nearby moving objects, or from which the first position and the first velocity of the one or more nearby moving objects are determined, and wherein the first data comprise sensor data acquired by a variety of different sensors and are filtered and/or correlated from multiple observations of the one or more nearby moving objects; and for each nearby moving object of the one or more nearby moving objects: generating a vector projection of the nearby moving object from the first position and using the first velocity of the nearby moving object, wherein the vector projection corresponds to a predicted trajectory (410, 412) of the nearby moving object; generating a trajectory (410, 412) of the robot on the route for the robot to travel, wherein the trajectory (410, 412) is generated from second data that indicate a second position and a second velocity of the robot; performing a comparison of the nearby moving object and the robot on respectively the predicted trajectory (410, 412) of the nearby moving object and the trajectory (410, 412) of the robot, wherein the comparison is performed to detect a conflict when the nearby moving object is within a clear region that includes the robot, and a time to closest point of approach between nearby moving object and the robot is less than a time threshold value; and, when the conflict is detected, outputting an indication of the conflict for use in at least one of guidance, navigation or control of the robot to avoid the conflict; characteized in that performing the comparison includes performing a stepwise comparison that includes a plurality of timesteps, and the clear region is dynamic in size to account for sensor uncertainty in one or more sensors of the variety of different sensors and in that the clear region is different in size for a later one of the plurality of timesteps relative to an earlier one of the plurality of timesteps to account for uncertainty in the first data. receiving first data that indicate a first position and a first velocity of one or more nearby moving objects, or from which the first position and the first velocity of the one or more nearby moving objects are determined, and wherein the first data comprise sensor data acquired by a variety of different sensors and are filtered and/or correlated from multiple observations of the one or more nearby moving objects; and for each nearby moving object of the one or more nearby moving objects: generating a vector projection of the nearby moving object from the first position and using the first velocity of the nearby moving object, wherein the vector projection corresponds to a predicted trajectory (410, 412) of the nearby moving object; generating a trajectory (410, 412) of the robot on the route for the robot to travel, wherein the trajectory (410, 412) is generated from second data that indicate a second position and a second velocity of the robot; generating a vector projection of the nearby moving object from the first position and using the first velocity of the nearby moving object, wherein the vector projection corresponds to a predicted trajectory (410, 412) of the nearby moving object; generating a trajectory (410, 412) of the robot on the route for the robot to travel, wherein the trajectory (410, 412) is generated from second data that indicate a second position and a second velocity of the robot; performing a comparison of the nearby moving object and the robot on respectively the predicted trajectory (410, 412) of the nearby moving object and the trajectory (410, 412) of the robot, wherein the comparison is performed to detect a conflict when the nearby moving object is within a clear region that includes the robot, and a time to closest point of approach between nearby moving object and the robot is less than a time threshold value; and, when the conflict is detected, outputting an indication of the conflict for use in at least one of guidance, navigation or control of the robot to avoid the conflict; characteized in that performing the comparison includes performing a stepwise comparison that includes a plurality of timesteps, and the clear region is dynamic in size to account for sensor uncertainty in one or more sensors of the variety of different sensors and in that the clear region is different in size for a later one of the plurality of timesteps relative to an earlier one of the plurality of timesteps to account for uncertainty in the first data. when the conflict is detected, outputting an indication of the conflict for use in at least one of guidance, navigation or control of the robot to avoid the conflict; characteized in that performing the comparison includes performing a stepwise comparison that includes a plurality of timesteps, and the clear region is dynamic in size to account for sensor uncertainty in one or more sensors of the variety of different sensors and in that the clear region is different in size for a later one of the plurality of timesteps relative to an earlier one of the plurality of timesteps to account for uncertainty in the first data.