The group discussed about Pre-Collision Detection furthur:

1.Stack-Screen refers to giving the robots stack memory that will place the name of the colliding robot on a stack screen, keeping up to X total collisions and dropping off the least recent once end of stack screen is met. Every time a robot collides it will scan through the list and check if there are numerous continuous repeats up to a set number. If the set number is reached or passed the robot will classify the radial collision as pre-collision and will handle situation accordingly. The theory behind stack-screen is that two robots converging onto a single point will have growing number of interactions between the robots. Thus, if over a short amount of time two robots collide say 6 sequential times, thus the robots can classify the radial collision as pre-collision.

2.Cross-Sectional Area refers to giving robots mathematical abilities that will allow each robot to determine total radial area overlap between two interacting robots. If the total radial overlap area reaches a set number determined by user, the robot will then classify the radial collision as pre-collision.

3.Time Overlap refers to giving robots their personal timer that will allow each robot to count the length of time collision occurs. If collision reaches set limit the robot will then determine radial collision to be pre-collision.

4.Collision Counter refers to a natural number matrix of length N (determined by number of robots) that will keep track the number times a robot has radial collision with another robot. If no collision occurs then the Collision Counter is set to back to zero, and the counter starts over.