Collision detection and resolution uwb

Hello, I’m researching about TDMA on DW1000. I have read the section on the operation of the tag in the APS017 document. I have a question as follows:
When multiple tags select the same TWR (Two-Way Ranging) slot, transmission collisions will occur. Is there any algorithm to limit or avoid this? I read the document but this part is too general. Also, what type of interrupt will DW1000 generate when a collision occurs? For example, when the network starts, all tags start listening for beacons and selecting slots. Therefore, it is very easy for message collisions to occur.