采用在初始位置延迟最小时间的方法，获得了双机器人时间优化的无碰撞轨迹。

Adopting the method of delaying minimum time in initial position, the time-optimal and collision avoidance track of dual robots was obtained.

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另外，还可以通过增加传输延迟来减少节点碰撞。

In addition, we also can reduce the collision effects through increasing transmission delay.

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为了减少网络碰撞，该协议采用两阶段广播机制和随机延迟机制。

To deal with the problem of collision, we propose a two-phase broadcast mechanism and random delay mechanism.

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为了减少网络碰撞，该协议采用两阶段广播机制和随机延迟机制。

To deal with the problem of collision, we propose a two-phase broadcast mechanism and random delay mechanism.

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